diff --git a/.gitattributes b/.gitattributes
index 1e30a711494396823630edfc80c48593355fc497..dd17afbd86769dd644ca555094a98dee300b17ef 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4745,3 +4745,7 @@ dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/757b5c3f0c3b5470b0f2c8fb199de00a/mesh/wine_glass_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/757b5c3f0c3b5470b0f2c8fb199de00a/wine_glass_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.urdf b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ccf0bc7b589a9da3305c6cd0cf8b73e77d6234d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_003">
+   <link name="coffee_cup_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>60529001375e588ea2f5e994fc332f7d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>travel mug</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray cylindrical travel mug with black lid and base</description>
+         <min_height>0.1233</min_height>
+         <max_height>0.1233</max_height>
+         <real_height>0.1233</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428015358</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <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/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.usd b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5c240cf9f88a11d291989456c9c354f39ecc0286
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 129559028
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.glb b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..782b972243e3284950b7384a8c07610dea7bc48f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 81202460
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.mtl b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49b7fe9b6e8260c6b1aab924accd3da685ab81aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.mtl
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+newmtl coffee_cup_003_geometry_Looks_material_0
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+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/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae28fcc9d5a59882fa1cbc039d2ccec7cc59fd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 116259271
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003_collision.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003_collision.obj
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..65764cca39ec40d4cf9aa573c6521632cb236b5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e54a3657d162cb71a7bb5f276ab645f90e5e56cf0f2b45b46ee6460a2afded5
+size 9979909
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/material.mtl b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80c4c7860ba713d033612e21420cbd9fce7f6ac8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_003_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd coffee_cup_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/material_0.png b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/coffee_cup_003.xml b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/coffee_cup_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b96ff8277b6593ae6255e632afd61d650787c08b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/coffee_cup_003.xml
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b35c310bd10b61d72593f7efe519431d8a1e4e
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision.obj
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index 0000000000000000000000000000000000000000..2952a03f433ced55d6569a3cebf2a18661b7f651
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_0.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c10fe005e4eddec74f66bb966a4e7c70d66e761
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_1.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b4f760916aae08db673cf473e4bfa2d4e6af4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_10.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5723f81281718deb4e6f786090b70ca579b0770
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_11.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2abd4b3ecc91a24b72f16575209829f50f64610c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_11.obj
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+
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_12.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a4b8ce0d727d7b364c96fc5ef78f200acb400c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01074450 0.01496468 0.04614241
+v -0.00213548 0.01768899 0.04614242
+v -0.00213548 0.01976435 0.04931711
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+v -0.01074450 0.02542647 0.04614478
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+v -0.01067203 0.02545922 0.04614245
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+v -0.00464841 0.02716100 0.04614246
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+v -0.00664393 0.02484181 0.05019805
+v -0.01074450 0.02284527 0.05052466
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+
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_13.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2031c0efdd753d1c2946af232998843e7d2a8ac6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01093734 0.01195023 0.04614240
+v -0.01620301 0.01195022 0.04847190
+v -0.00982237 0.00768890 0.04614239
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+v -0.02432250 0.01195022 0.04847190
+v -0.01987169 0.00035780 0.04847186
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+v -0.02483178 0.01086645 0.04847190
+v -0.02475721 0.01102646 0.04847190
+v -0.02735094 0.00035781 0.04614236
+v -0.02701262 0.00035780 0.04847186
+v -0.02621595 0.00890772 0.04614239
+v -0.02533743 0.00960791 0.04847190
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+v -0.02687803 0.00288169 0.04847187
+v -0.02660519 0.00487901 0.04847188
+v -0.02672524 0.00687408 0.04614239
+v -0.02701990 0.00487902 0.04614238
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+
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_14.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50cb22fd9a93cfb59151f0c014d9046b439065c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01074588 0.02542703 0.04614469
+v -0.01074588 0.02490198 0.04827347
+v -0.01074588 0.02191536 0.04614244
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+
diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_15.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77897fb8c3b8857d3e39a5c9a5464cbab5b69d4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02701208 0.00035780 0.04847186
+v -0.02689460 0.00035780 0.05020413
+v -0.02701208 0.00088550 0.04847186
+v -0.01987362 0.00035780 0.04847186
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_2.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8ebb6f637fb82d7c626acef53b74891933085d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_3.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47794487177609080d3b52aceb2852d367c56361
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_4.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5958542b48f2b88d609ada09e99370713b16e2ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_5.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..538ae8ecbbb2bbe026a255131f98ee231a217686
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_5.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_6.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e46a96add3fed08bdfc7e227cdb442ac3dd6bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_6.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_7.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d094e45f88a24335043dfbc054f7deb1c771f00f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_7.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_8.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff97d3e3ba041a68730d150ae6beb7615806df7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_9.obj b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_collision_9.obj
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003_geometry_Looks_material_0.png
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