diff --git a/.gitattributes b/.gitattributes
index e20ad305e70b56578b8bd72b2a6b840c937f5f33..18213d345841ea28dc30996ee381aed96b8a3122 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4630,3 +4630,5 @@ dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.u
 dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.urdf b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c738b733f6836aa148290d718107a44109cca047
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_011">
+   <link name="coffee_cup_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>072e1b5449cb54919c3d30c07d7c2a89</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>blue ceramic mug</name>
+         <color>blue,white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white and blue ceramic coffee cup with loop handle</description>
+         <min_height>0.0538</min_height>
+         <max_height>0.0538</max_height>
+         <real_height>0.0538</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201713</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033924 -0.029612 -0.025993</min>
+            <max>0.049162 0.029400 0.027832</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.usd b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..99077c92d5ffab8e25fad39419e15b986206964b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/coffee_cup_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eb02e65a075478d8e81cdbad79b35bbc04eaf0cbe15e622af57fdafad1c3afe
+size 4591887
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.glb b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..224a7c4cce5e31abd98ba18ea6d313ee3aec79ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd900c067e6d280b75d5602520babc0bd934b964a65eea41dd82e8242e133d5a
+size 12356260
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.mtl b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bfafce2d468826b1d157a2d71a3f255e077cc5a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_011_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/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a58f15bc161fdba40b9f0c97bb02017b9d74a53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011.obj
@@ -0,0 +1,105352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011_collision.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb0ae2c1d2ad944e8aa015498cfcee6ecfb657e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..670debae837c7a796c8727bda785f4338c7d8376
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/coffee_cup_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a43140e189ac07093ff402c24dcf81cf43b6cd7089d2d9b1326ba47525660e2
+size 9536747
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/material.mtl b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae019b85b5b88c95e813bd25a6d33d94dd446c81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_011_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/material_0.png b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..670debae837c7a796c8727bda785f4338c7d8376
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a43140e189ac07093ff402c24dcf81cf43b6cd7089d2d9b1326ba47525660e2
+size 9536747
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/coffee_cup_011.xml b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/coffee_cup_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f4f0494820fe7343712f422ab3b25a9dd4ea99f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/coffee_cup_011.xml
@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_011">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_011_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_011_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_011_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_011_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_011_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_011_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_011_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_011_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_011_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_011_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_011">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" 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/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757bfa7bd1da1a261653f9e4add80cdd3bfd9bcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011.obj
@@ -0,0 +1,105352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_011_geometry_Looks_material_0
+v 0.043192 -0.003822 -0.006600
+v 0.043421 -0.003667 -0.006504
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55e5cea93e7c8036ead6a246b916fa7cc618f95
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision.obj
@@ -0,0 +1,12842 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_0.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb36ec32f11789d3f78dd4a257a0c841139bd80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_0.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_1.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7a417f0b70209b28c34993033d3ddf96f9c15e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_1.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_10.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edbf49b5081a6ca1b0bce59e46a325ca160c7699
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_11.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4b5905a4dd52df8907d7cafa64c1b641abe6aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_12.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67a72b363fc15bd55dfb5c5c6a207e89b7f6bb8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_12.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_13.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522d0d8c10e8d9b81ba8712e9ae4e2634f9bbf7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_13.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_14.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e1cd8dff6bcfbba079b95106c1799b84f1bff4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_14.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_15.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e9fb106ef77174920cc3b38357e0fe3eb4a23c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_16.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8354903760242c9e8165b2da615d8927497039
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_16.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_17.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a637c03b128298522eeff73531f07ae7ad97e469
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_17.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_18.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8bf40c6b8984d816378f31040d6eedd4f8c37db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_19.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd1ecc778ed2dd490bebe6b2f81f033a88a5629a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_2.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8a4c0023f6c8d6caf0d5630e9c565f7587b2c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_2.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_20.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47ed3ca560706c222c26b149d21a5f376dc6002
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_21.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89609bf0da6c84b8f2e789169477628682891c31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_21.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_22.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5218d30f3f45b16709822f6df358995e19175f54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_22.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_23.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fb0e9b302b635c97789becfca45ec84e710516
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_24.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9696327b5be092aa9fddd6593b8828426dc040be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_25.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232f4a243510c809b215da73eac0128dd5e55564
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_26.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8443e3950b01a60993fef7a045cd59cb25e4dd73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_27.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad374182b9278fb0dee02a60cebf800785759cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_27.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_28.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d2f65ecb6063b329b93279d382224d3d0d9a2fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_28.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_29.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b28d4aea037feb6524e1b4913741a3c30f5c04
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_3.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8633af62ccaa564d5e5740bcdbce5058d5c95ad1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_4.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74558b60e1796c9ccefc92da3614562e7cf0e366
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_4.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_5.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b71f54219aebf4eb99b1d3ae5794272a722e89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_5.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_6.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f518e5982187d073647b87f748e74439f58572
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_6.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_7.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f91504b561c24bbcef53ee327f2fa33c742f2ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_7.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_8.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6043255c57e6db11dfae4f2937ae3e7b663694
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_9.obj b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..670debae837c7a796c8727bda785f4338c7d8376
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/mjcf/mesh/coffee_cup_011_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/textures/material_0.png b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/video.mp4 b/dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/video.mp4
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