diff --git a/.gitattributes b/.gitattributes
index 12e6a7cc074e94fd1e0c9726f690382bf4752fce..93cd101ee2c185a8a5a26da2b21415c69ea5112f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4629,3 +4629,5 @@ dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba
 dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/02700b1627945131982209b15ea7a87c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.urdf b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be51302c3cf861e9fb2a68236c97602545717679
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_020">
+   <link name="coffee_cup_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_020.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_020_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>06d1cf85ad30553f851a1a025239ecb8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>pedestal coffee cup</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup with pedestal base and floral print</description>
+         <min_height>0.0846</min_height>
+         <max_height>0.0846</max_height>
+         <real_height>0.0846</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191800</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032786 -0.033252 -0.049024</min>
+            <max>0.032837 0.053675 0.035616</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.usd b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f55e823b178f2118714ad4e37a779213d0995196
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/coffee_cup_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b66d9ebf4fd5cdfb5e12f9d3e2a478e1c767df4110d4ad798fe018b49bbb1a
+size 4931646
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.glb b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d6014cc9156ad45b10973caa4adc179424919d9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c580837136cee6105ee7cc3a055358e1f8157dbfc0527c39b2fdaa1e753283
+size 12161988
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.mtl b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c66e071e5a793e106b292076d7920d91e6f9644b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_020_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/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75d08a08b165de0baac56d620df9da7bb204ee9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020.obj
@@ -0,0 +1,106612 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020_collision.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8581e5d13a33c9927d7d1acdaf8d3de3c079c0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/coffee_cup_020_collision.obj
@@ -0,0 +1,26796 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/material.mtl b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/material_0.png b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/coffee_cup_020.xml b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/coffee_cup_020.xml
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+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/coffee_cup_020.xml
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe14794225c5c16da8f11a0cd97d815d0e43801
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020.obj
@@ -0,0 +1,106612 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cdb093f147c5f06c92825ad9f285b6808fc9e56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision.obj
@@ -0,0 +1,26796 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_0.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8027efc20b219be8ffd1b08c21d05ba1f101d426
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_1.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7a043a3b4a2cf096a9e6bc7e03055c7430f662
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_10.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56ff1ff3f94293d7eb9305a05de745245c151b0
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+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_11.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3da351ea0ea84297d56ce72b0c70e19a44a5ffd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_11.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_12.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d2b24645ca23ef912e1c640247d344b075e0b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_12.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_13.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8f5c112d578c7bd032abbdff9cd852ccabc222
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_14.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d40ea803f03b64b231a1b59d0a3d95472125e5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_15.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e136e822aa264ad3868ccb7833b07eadedca121
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_16.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2bde9dc1a5ac2d997e97a022230a92386422e8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_16.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_17.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8529552ea8a6ac5f14f901eae9b2c8510525992
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_17.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_18.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd306aad01d27a94a83ce5a561d982f3d2ab55c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_19.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ba6997ce108956bf7c3d4dafc3cb8bc3d0dc05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_19.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_2.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bda30217319b1f36381fcaa1b01d1a45881b745
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_2.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_20.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43830abf2f25237697cf53b22bab9986df57fc60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_20.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_21.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb75eb8003993ccb5439dda9e9305418279abf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_21.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_22.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5db0ad23a58ddffcafbe1b3947658dadc35b4ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_22.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_23.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83dda484dd4af7436ada0af8aa3b92e28428ac8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_23.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_24.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaee5bb04f36e80a1a522764dbb308126ac308b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.01599556 -0.01929746 0.03204581
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_25.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913fab2b41f032f1c298d50380eb5f2bc2d8b51d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_26.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01fcf834e39938899bf35deba5fe31c1323aa5ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_26.obj
@@ -0,0 +1,715 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_27.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc1cb54bf5d16e23106c5a6198a3e7de7dd16cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_27.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_28.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9be6b8457cf8e1b508c91d991e00008ef072e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_28.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_29.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3cc0325a0d688f3d23b6e98ad39093224ad7a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_29.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_3.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2387bb6ffe83542841ed9ceb70a00498d9501e48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_3.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_30.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c22f5e40bb8947fc26fb1d72bb87bba9a09b03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_31.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfab159e424874d6c7f76fa25a32745c59970f2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_31.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_32.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45e584e938d4cb64b7293289d7901484c31f23c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_32.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_33.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..869ed67aaab844572372ad7212036c1b05a17b19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_33.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_34.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccebb27757e85a701472a5fe515eab4dfc834dc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_34.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_35.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807e2b6764d0714505819ac449e24e32c2271f72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_35.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_36.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..609070e51d3d44618591015d35fbde1ec8f94e84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_37.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1f5e28443a393d22c6bf12c3b09bc3a74fd8cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_37.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_38.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1658141348f07002ee565d54aacbf3c861b446cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_38.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_39.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439b051afdd2cb526055645b2ca3da6a941a11ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_39.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_4.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cfbc43f34793001549c9c9a4929b9fe799215c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_4.obj
@@ -0,0 +1,796 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_5.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55775bcbced75f0876d95760226ff2ff8c0132cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_6.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3fcde27d2c9752b124194ac458b962e3653041
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_6.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_7.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b39ebd3c9130fc5951e5895ca3e6d8d034f239b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_7.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_8.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae93cec35785cc9916636cd121361354556b17d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_8.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_9.obj b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55f4bd545dfb9646e37613cb5057ed14e131503
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/mjcf/mesh/coffee_cup_020_collision_9.obj
@@ -0,0 +1,586 @@
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