diff --git a/.gitattributes b/.gitattributes
index df362e81b441b7c4d08b7dc12ac7580ed22654c1..6d26f387d207e1acf7745e1f72c401af10a38828 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4679,5 +4679,5 @@ dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/baby_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/mesh/baby_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.urdf b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ef46fbf66bf39236070377e14973855ad8659067
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_035">
+   <link name="coffee_cup_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</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>3c35f1938960555c88fbd976746ac30e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>gray handled mug</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>tall gray tapered coffee cup with rectangular handle and ribbed back</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160014</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066212 -0.058852 -0.072177</min>
+            <max>0.106871 0.058989 0.077823</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/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.usd b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/coffee_cup_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1ff9328d7d645d8adf78dfcbb711ce0f066cbaac9f72ceae1fb2fc7230bf92
+size 4824295
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.glb b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e1e90365e920fbc94dfccf1d73363c4022d47150
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec35ac18301ce12cc531ace2fdcd03c9dec75ad298566f741a508a8e2b581b1
+size 11353576
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.mtl b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6eecd253f14da2033f47e89aa5a738f546caf2cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_035_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/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee5fb06bf8cfd44838e21be716a8674bf52a3099
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035.obj
@@ -0,0 +1,105732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035_collision.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab1810b0fff6a542e1da60fb1ba3eb14193381c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035_collision.obj
@@ -0,0 +1,18044 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..185f0105c160e697dbf3be293a644faf78e859a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/coffee_cup_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8144947
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/material.mtl b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b441cc5501941f19e51ab43278e961b2d5260903
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_035_geometry_Looks_material_0
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+map_Kd coffee_cup_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/material_0.png b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..185f0105c160e697dbf3be293a644faf78e859a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c84c297ca67b7ca041bb1c78dc5eaf5b684aa7c7ecdb18d0daee35d9c1a50c8
+size 8144947
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/coffee_cup_035.xml b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/coffee_cup_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8abf1b26de93e11586e06eb7086a60b429b44eca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/coffee_cup_035.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_035">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_035_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_035_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_035_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_035_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_035_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_035_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_035_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_035_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_035_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_035_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_035_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_035_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_035_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_035_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_035_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_035_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_035_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_035_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_035_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_035_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_035_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_035_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_035_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_035_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_035_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_035_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_035_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_035_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_035_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_035_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_035_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_035_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_035_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_035_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_035_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_035_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_035">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" 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/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8333bba449586766437cd88c258ffc6384d86f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035.obj
@@ -0,0 +1,105732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec44602f32a51c7fbd51cb71f22ece7c1555693
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision.obj
@@ -0,0 +1,18044 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_0.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80fe997e876d6f0c47837613dd8f7cff70f5df5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_1.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894a8da64c8eab58c4f3c9b21f7afe60d479e1bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_10.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f60c75850a9b09bbe6ed2fc527ac2b91a98fc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_11.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8017514ba8226f9720bea05d42d6dc42b96930
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_11.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_12.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972aa1dcb0c974c9a2ad2a4fca09ab18d5ec4e2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_12.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_13.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02090f12a04739392b83ae49177e4fa7f56b4f14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_13.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_14.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03d8a48f63a29e89dbe2d8024f04baeebcd609d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_14.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_15.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0657fc82c1ec974759e23b653b3aeb280308297
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_16.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6287e90b431ae432a58818fed333c78bfd67afa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_17.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..325adb6df8a40a2f523d4a6442f9091c50eaf30d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_18.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2950be5ffb47a70e2ce80254289343050387452
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_19.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba08c4c96f05e6b210036bbc17de27464a41a91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_2.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef3d2d1b7501c8590a8b42d79a8e70aef97f0dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_20.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a656c603ac5e6f27a07652229e7d8ad9e9d21e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_21.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef901895d3e7c1683ed7755a068977e8b926471
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_22.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68df8e74addbe45bf35feebbb79f87d8426e0d08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_22.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_23.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b97890f707b89a9100a74de801e6792224d15a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_23.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_24.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad16f51fd9099ea31192c5c4add52ea0d8a8479
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_24.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_25.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31da8b142b4fb87ddb5806f9c17e4e3704b5a83c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_25.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_26.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e137040e6abebbb68034873f5aadd067a4f992f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_26.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_27.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f20f43d7ac9992af1737a131f9b2e12e5195a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_27.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_28.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6856c8000adbc41565b85e12f9f0c8010954d68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_28.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01885660 -0.03431997 -0.06290944
+v -0.01885900 -0.03575869 -0.06290944
+v -0.01885900 -0.03432141 -0.06290669
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_29.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a93348717b1e93c1604b77d9918ccaed90caef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_3.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67084bd0ca7c02ebfe84aec7de8b35bc87043109
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_3.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_30.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8c0f4e418478403fd754ccedb504db222adc3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_30.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_31.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6015c2496b54165a17339f41fb42959c49bc5217
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_31.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_32.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f361110f5c1c45d4e26740922545db4865a4b2d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_32.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_33.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d5a27f06c85914ce08e77181eab09b28ccd7aa1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_33.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_34.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0685fb2d2f218726936fb4e5a111c2c1847843d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_34.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_35.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e585bd2f2c0fc12b77e33da49ea83f69fb2547d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_35.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.09807529 0.00997600 0.02900908
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_36.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79e409c70a70a20e359ba8097b3797483a1ce32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_36.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_37.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5050c24fa79c763570d7e050e9b1f23f235d90e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_37.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04474204 0.00290443 -0.03667145
+v 0.04474204 0.00616061 -0.03701029
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_38.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95678c33833518bbd69bc8313ea61fcb5755a02b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_38.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_39.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0bdf6baa08f9d12af64ee0568c63969ecdf02a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_39.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_4.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0b627df61b4f926450621cbea1c4229b72fb4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_4.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_40.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586d6c5ed18ceff2b9eac388fa175c019ae15df4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_40.obj
@@ -0,0 +1,220 @@
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_41.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4030731922666ae4210b07d4842ca76a37a48bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_41.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02680585 -0.01769526 -0.06206973
+v 0.03899520 -0.01769526 -0.06206973
+v 0.03019306 -0.01769531 -0.05013106
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+v 0.03945015 -0.01769528 -0.05835818
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_5.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4681745602e297c6895706d067928a202b20677
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_5.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05239628 0.00290276 -0.03716460
+v 0.05239628 0.00290279 -0.04531345
+v 0.05206370 0.00290276 -0.03707951
+v 0.05239628 -0.00701120 -0.03651228
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+v 0.05213978 0.00290279 -0.04551341
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+v 0.05239628 -0.00984203 -0.03646833
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_6.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e64f14b6e22b17c694985333ef8d3f652a12a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_6.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05239885 -0.00077111 0.06622649
+v 0.05239885 -0.00134600 0.06622382
+v 0.05643782 0.00037217 0.06256293
+v 0.05643782 0.00147971 0.06256561
+v 0.05239885 0.00147970 0.06621582
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+v 0.05239885 -0.00417819 0.06587133
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+
diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_7.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc98639a5e65907d85ec88dcb3f7f52ce64f05c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_7.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.05541928 0.00007078 -0.05820952
+v -0.05534069 0.00007079 -0.06120204
+v -0.04567690 0.00007078 -0.05820952
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diff --git a/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_8.obj b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748caff5705e0996084b398f18600ea043371a27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/mjcf/mesh/coffee_cup_035_collision_8.obj
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