diff --git a/.gitattributes b/.gitattributes
index d668e40c2e79d5f0ac7d2638b2e2c1da314c0edc..1260275b2217bf81c2143198efbded316f1a7119 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4827,3 +4827,5 @@ dataset/kitchen_supplies/ware/d73ce17048865fabb1aad66b312b9e3e/d73ce17048865fabb
 dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/d74cc4527b5e5328af3cdeca950932d4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.urdf b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95415aedacb0eba4257f3b0607459f78e89fee38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_012">
+   <link name="coffee_cup_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_012.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d6612f12ca9750faa9ebfb714ab121ec</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>floral coffee cup</name>
+         <color>white,green</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup with floral motif and curved handle</description>
+         <min_height>0.0679</min_height>
+         <max_height>0.0679</max_height>
+         <real_height>0.0679</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201738</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037410 -0.034442 -0.035151</min>
+            <max>0.047706 0.034430 0.032713</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.usd b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995ff9e2edca75ef9a115754fab5814c55b17c0b6f1da75afce351ea4f5d37a1
+size 4999678
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.glb b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b71d1e6ab28c2cbeed9602c0080020476d6697d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84f6305202db8d4bd0325118ed587103cef832a3f4f9fc4352e439f0d4d4fa1
+size 13360884
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.mtl b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0500250e9fe0d226f739586afe86a9fb403edfe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.mtl
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+newmtl coffee_cup_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ee056a05fc4a12dced2364bc76e18b3f9bd53f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.obj
@@ -0,0 +1,108970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012_collision.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ae00d55923fb61a64bcf2b3a7bd528bf7bbcd4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/material.mtl b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/material_0.png b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/coffee_cup_012.xml b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/coffee_cup_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a095ded3d6be5157cf1d6c0c3d88c813091158ff
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+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_012_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_012_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_012_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_012_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_012_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_012_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_012_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_012_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_012_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_012_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_012_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_012_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_012_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_012_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_012_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_012_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_012_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_012_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_012_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_012_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_012_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_012_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_012_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_012_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coffee_cup_012_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coffee_cup_012_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coffee_cup_012_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/coffee_cup_012_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/coffee_cup_012_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/coffee_cup_012_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/coffee_cup_012_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/coffee_cup_012_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/coffee_cup_012_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/coffee_cup_012_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/coffee_cup_012_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/coffee_cup_012_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/coffee_cup_012_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/coffee_cup_012_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/coffee_cup_012_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/coffee_cup_012_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/coffee_cup_012_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/coffee_cup_012_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/coffee_cup_012_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/coffee_cup_012_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc379635f8292c3a9bb3983479ea173bd22c5ecd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012.obj
@@ -0,0 +1,108970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_012_geometry_Looks_material_0
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+v 0.044305 0.002662 0.020164
+v 0.043918 0.003058 0.020057
+v 0.043918 0.003058 0.020057
+v 0.043658 0.002588 0.021012
+v 0.043658 0.002588 0.021012
+v 0.039371 0.003572 -0.002922
+v 0.039645 0.003496 -0.002275
+v 0.041501 0.003547 -0.000493
+v 0.038611 0.003565 -0.003263
+v 0.040998 0.003575 -0.001426
+v 0.042645 0.003547 0.001092
+v 0.042479 0.003584 0.000343
+v 0.036615 0.003597 -0.004710
+v 0.043530 0.003525 0.002851
+v 0.037326 0.003556 -0.004471
+v 0.031267 0.003690 -0.008010
+v 0.031267 0.003690 -0.008010
+v 0.033278 0.003672 -0.006650
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+v 0.029512 0.003719 -0.008808
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+v 0.029256 0.003742 -0.009186
+v 0.030689 0.003674 -0.007904
+v 0.029059 0.003671 -0.009670
+v 0.029059 0.003671 -0.009670
+v 0.029059 0.003671 -0.009670
+v 0.039747 0.003521 -0.002796
+v 0.035751 0.003505 -0.004860
+v 0.041303 0.003527 -0.001280
+v 0.033025 0.003507 -0.006270
+v 0.029564 0.003603 -0.008402
+v 0.029564 0.003603 -0.008402
+v 0.028121 0.003629 -0.009559
+v 0.028121 0.003629 -0.009559
+v 0.034972 0.003550 -0.005995
+v 0.034972 0.003550 -0.005995
+v 0.030621 0.003523 -0.007566
+v 0.029006 0.003347 -0.008171
+v 0.028517 0.003447 -0.008748
+v 0.028517 0.003447 -0.008748
+v 0.044516 0.003634 0.004490
+v 0.044516 0.003634 0.004490
+v 0.044751 0.003578 0.005518
+v 0.044751 0.003578 0.005518
+v 0.028138 0.003181 -0.008433
+v 0.028138 0.003181 -0.008433
+v 0.038225 0.003331 -0.003051
+v 0.030690 0.003066 -0.006668
+v 0.028774 0.003031 -0.007708
+v 0.028774 0.003031 -0.007708
+v 0.037155 0.003433 -0.003910
+v 0.035211 0.002985 -0.004231
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+v 0.044302 0.003044 0.006540
+v 0.044302 0.003044 0.006540
+v 0.044516 0.003294 0.005785
+v 0.045131 0.003325 0.007671
+v 0.045131 0.003325 0.007671
+v 0.031061 0.002931 -0.006266
+v 0.029072 0.002816 -0.007216
+v 0.030173 0.002770 -0.006539
+v 0.042029 0.002684 0.002438
+v 0.042029 0.002684 0.002438
+v 0.034743 0.002764 -0.004194
+v 0.028003 0.002638 -0.007721
+v 0.028003 0.002638 -0.007721
+v 0.028003 0.002638 -0.007721
+v 0.043029 0.002581 0.004637
+v 0.043029 0.002581 0.004637
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4fb963fd5fd8744be06653ea1926a477d2faeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision.obj
@@ -0,0 +1,20780 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_0.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3504b11b1a578d94a2793347892f69a347210fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_0.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_1.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6127092ffe14fa0dd55db6942d7228f9936e7f1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_1.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_10.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e542572dc9c80a4f3bbf61a48e1ce5c5eed62f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_10.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_11.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44904dd9c2fb994331ed618a48979359afe1d7b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_11.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_12.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99150135e2fcce1830459ee01d167380b9e7057b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_12.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_13.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34229b364327e8421d329469698de3ee10341b50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_13.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_14.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e96254cdb2ac31261719eb26df7730f084aba123
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_15.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0116c0d2f4b88631cef85c604355133ec0250c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_15.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_16.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6650a41b30a1efdea3370e3f996d9f5a99f40cfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_16.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_17.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4506a41310f2958c4678904b57079a9836e81084
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_17.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_18.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c18c59c1495b764b155988e5a4448db5094e24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_18.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_19.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba72caf0b92f9a1f30ac99299e196ad73dc2308
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_19.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_2.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b185a16df59ce798ffac756a77425e38272f464f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_2.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_20.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d53ecc02961cae0b26ceb831ac4ccc600f9b94a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_20.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_21.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c572b0e9d930d5c4eebc415f22cf0a1b866c5de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_22.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9c83519ca1ee0e042c45ab038d13440f0e8194
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_22.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_23.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c097c91d3d2e0c7ee4efcb88be1c49f3eea9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_24.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f62db17bdd8e7fb499bc930b80be85cc0e0965
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_24.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_25.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6b052463c8113a63ed475be42f0b14dfec8386f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_25.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_26.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e626c11955ff9ae6cc87069bc44718399a68964
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_26.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_27.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35cbed8fc3c114952a1b4179c0546a63ea8b6f93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_28.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b462848b96199da1e7a493e05825c4da38b45721
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_28.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_29.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021eda8f3c7c8464adab107c689b329c5422fb4a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_29.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_3.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c329317e4b79153f6020f8098e4a155be3d98e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_3.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_30.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0a9a6cb08af257f3b3b545998b4ab6788ce773
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_30.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_31.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a7d43b79aa3be83a080bde3aac7fe520111ba1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_31.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_32.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b10908cf1c47c1a015e856e67f35d1f548a5dec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_32.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_33.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a687e4745bb619b7f777d73c9ff481583c6df7d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_33.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_34.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52195d984b1acc0dc4498e326f3424ae80260cac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_34.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_35.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88614e67ab205c01870e28a687bcd2ff75c44512
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_35.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_36.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300f17f914d551e5dae01b830c3d1a09f09d0b01
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_36.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_37.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840736db3ecd89b1ffcc437508708d3a83118d32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_37.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_38.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df13d0cd0af15d565a9e800070f6921cdbf18a18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_38.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_39.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4828b48ebdff3e0d136c98da3dc89ec3b2a588b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_39.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_4.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a51ebd5fca183bc61c07fbe6c70005b5bafa63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_4.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_40.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75202d9a2d3ea609adaf82058ac546dd99ae028
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_40.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00936758 -0.02588033 -0.01537932
+v -0.00936758 -0.02580344 -0.01558743
+v -0.00915082 -0.02597171 -0.01537932
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_41.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b960e16cea92116a8a11781bf7eb1af98e70ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_42.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d1cf66dbc090cb75c768f45c5e87d06c6e115ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_42.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_43.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9783c7a43e16e0be9509c2d75bc10cd7dca14f66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_43.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_44.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de129cea4b958cb61dbc5f0e0e1d88c0a87410a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_44.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_45.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2adb329cb726c04bcec4dfa022058aff56ee8e36
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_45.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_46.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7463db9058d1209bcf2e4bdb8aaf327ea329ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_47.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f22cab077fcce39929c0ace2d628f01cdde626be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_47.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_48.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbab4f501d9d133ebea017e19de52542c8a6336b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_48.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_49.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a4fae9ec4c62f19ba4a58c626af51199d157b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_49.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_5.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d26a41105b81d738c0c6aa5e7b219dd439a78f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_5.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_50.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158edd893cbfae2e09d711b5c73a5aca511f2dd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_50.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_51.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68b218e04840d90e69c94b7e946a6ec0eaf4980
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_51.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_52.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be7e4e4bf7681642ec43aaf30252df54919c3c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_52.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_53.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e2d3e120eb3e3e2d2c8dc09dd009164c131be4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_53.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_54.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e496379c614242ad283b94b16a2655ceb0b66ec7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_54.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01920114 -0.00759053 -0.01256427
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_55.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13540cd71355737b057c75f6c48e64e2b1983a4e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_55.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_56.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b908d3bff4f3b7389e2209cac9e8669acc20861c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_56.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_57.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..603ffc31aaf2b3e5bf528cbe82e81db6cad5d293
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_57.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_58.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..005af1403af053bdfe234accf44d5440ee73639a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_58.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_59.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ace32e024967624f3a4a0ad922f6fc239ff9a3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_59.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_6.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01272434b64704b4c685476de48f983d79c7dd27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_6.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v 0.01917817 0.00014373 -0.02445189
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_60.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2db644c3b0398db2f4a656fde85960fca5ed45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_60.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_61.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df596b51cf4dde942251a85aa01be3c0a41fa22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_61.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_62.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deff29633111a59f77f3fc90e8e8d69290585a92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_62.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_63.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe28fc2c0cb97e32dbb20d75c8d54d285d4a6591
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_63.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_64.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade7fb0054d7fd7c6a5f8483e23ea078789f8ab3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_64.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_65.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc8fcf523a8a220145ec0c1fe70557ab1091dd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_65.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_66.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67cfcda6e4875ce8c1a1b8b6a41e9ff5467144a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_66.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_67.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da421438b97e23b9fec666cf30a7bfa503cdb913
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_67.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_68.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a95790969283abe49b4a80c6f38d6ac48a157b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_68.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_69.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68185443c58c8bee25c18a8b75b0e71f7d3430dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_69.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_7.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e26e13f6ecc36db66ae24f5c9a7e3e61e55acc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_7.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_70.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eda9c090d4369f06fad8728908389db3a1a3c12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_70.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_71.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120f2e1ee54e3a7b8878cbad75fd9aa494feca7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_71.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.03042395 0.00020889 0.01144692
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+v 0.03042395 0.00020889 0.01132907
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_72.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc760fc399f5036f42a48a1c2acb335af6aa379
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_72.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02970522 -0.00286823 0.03283482
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_73.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f552b3ffbdc5cc32f1f8c0a230f5785751eaf431
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_73.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03116076 -0.00568374 0.03164476
+v 0.03092830 -0.00568374 0.03210803
+v 0.03054925 -0.00759187 0.03232332
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+v 0.03049988 -0.00759187 0.03242136
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+v 0.03072309 -0.00759186 0.03017804
+v 0.02590663 -0.00568367 0.01317147
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+v 0.02980866 -0.00759187 0.03269240
+v 0.02590663 -0.00759181 0.01627405
+v 0.02590663 -0.00568373 0.02941105
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+v 0.02970580 -0.00634232 0.03279045
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+v 0.02590663 -0.00759186 0.03021840
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+v 0.02620955 -0.00568373 0.03000888
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+v 0.02626561 -0.00759186 0.03082393
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+v 0.02692546 -0.00759187 0.03164091
+v 0.02717593 -0.00568374 0.03147367
+v 0.02780132 -0.00568374 0.03217339
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+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_74.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c866caea54869eca39d360e4a4936e37bb723a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_74.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02176390 0.00437620 0.01613016
+v 0.02206657 -0.00286911 0.01613013
+v 0.02209943 -0.00286911 0.01632375
+v 0.02178779 0.00437620 0.01626369
+v 0.02797771 0.00437620 0.01613016
+v 0.03009345 -0.00286911 0.01613013
+v 0.02238120 -0.00286911 0.01766905
+v 0.02204069 0.00437620 0.01743039
+v 0.02875033 0.00437617 0.02465513
+v 0.03193539 0.00429533 0.02091382
+v 0.02908486 0.00427833 0.01613016
+v 0.03024678 -0.00212019 0.01613013
+v 0.03193539 -0.00250955 0.01889834
+v 0.03193539 -0.00286912 0.01902687
+v 0.02211337 0.00437619 0.01775504
+v 0.02254150 -0.00286912 0.01832167
+v 0.02978579 0.00069819 0.02465511
+v 0.03193539 -0.00070959 0.02453159
+v 0.03193539 0.00009891 0.02449070
+v 0.03193539 0.00069819 0.02445732
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+v 0.03193539 0.00244002 0.02391320
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+v 0.03193539 0.00337477 0.02311704
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+v 0.02459451 0.00437617 0.02465513
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_8.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0556d1277d7059894fcba1df6ef6d86399bab9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_8.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00632691 0.02685477 -0.01001582
+v 0.00642376 0.02683219 -0.01001582
+v 0.00636819 0.02671480 -0.01082220
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+
diff --git a/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_9.obj b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c2853595a3c9c8f8b4dfeee475c81c5f10798e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mjcf/mesh/coffee_cup_012_collision_9.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02393543 -0.01296666 0.01359900
+v -0.02413881 -0.01296666 0.01478151
+v -0.02869292 -0.01296666 0.01359900
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+v -0.02793657 0.00009169 0.01487382
+v -0.02817451 0.00009168 0.01627287
+v -0.02423053 -0.01296667 0.01522966
+v -0.03028806 -0.01022971 0.01359901
+v -0.03503625 -0.01296672 0.03024452
+v -0.03241757 0.00009169 0.01359905
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+v -0.03034389 -0.01012361 0.01359901
+v -0.03509872 -0.01296673 0.03166805
+v -0.03576868 -0.01155798 0.03069079
+v -0.03085035 -0.00915717 0.01359902
+v -0.03746750 0.00009163 0.03024833
+v -0.03239098 -0.00064080 0.01359905
+v -0.03746351 -0.00071117 0.03024833
+v -0.02863045 0.00009167 0.01841194
+v -0.02475560 -0.01296667 0.01745910
+v -0.03456435 -0.01296673 0.03253987
+v -0.03561714 -0.01113741 0.03224048
+v -0.03546295 -0.01200541 0.03172266
+v -0.03576868 -0.01155799 0.03130841
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