diff --git a/.gitattributes b/.gitattributes
index 6de71e5abdfa13bc47d90cebfb82a93368e5ff5c..9f0f98e93ea2fdcba3dedaf17ee0e3f52fa2cf86 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4774,3 +4774,5 @@ dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/mesh/mug_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/mug_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.urdf b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e17c480a0dfc3e3551359c030b923dd906aa1fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_016">
+   <link name="coffee_cup_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>a8a0e16f3f61521d8d196fa6dbf69a55</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>white pedestal cup</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup with flared rim, pedestal base, and curved handle</description>
+         <min_height>0.0525</min_height>
+         <max_height>0.0525</max_height>
+         <real_height>0.0525</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201925</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031496 -0.028730 -0.027247</min>
+            <max>0.042512 0.028855 0.025247</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/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.usd b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8f68f01eaa6049ff0b6103a459ce1cee059a8685
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d9ae3b24464d8302282f1b8418ab204f3cbc3bc84872851a1b7e8947a120d08
+size 4974359
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.glb b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..58e5182d655dea8a1cd60701e9f714dcbf0ba46c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d008a5193189a51f8f887e6b3b72473f1eeb0b507a393b9b3b6a40fc80b4ccc
+size 10821696
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.mtl b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8bb46607cc5e0fcb8937e48d549928b67e83a10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_016_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/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c64dbdcbedd33492a0b63429698daa619c7a0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.obj
@@ -0,0 +1,104352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016_collision.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e624b148359e0bc39aa91bf16f97669afad582a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca414f82b86419708a4b1af3e71489ece0354f0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/material.mtl b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7008ec4bed37401e8d8d974301981f6a9059fe1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/material_0.png b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca414f82b86419708a4b1af3e71489ece0354f0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7444e08743f5755d60b9b1457d5f9106fa27d7aaa7bde4760df3fd1e6d9b6f81
+size 7376698
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/coffee_cup_016.xml b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/coffee_cup_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c2f432316b3551fd3027f48131d9ca432f4c947
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/coffee_cup_016.xml
@@ -0,0 +1,134 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_016">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_016_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_016_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_016_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_016_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_016_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_016_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_016_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_016_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_016_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_016_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_016_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_016_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_016_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_016_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_016_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_016_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_016_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_016_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_016_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_016_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_016_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_016_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_016_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coffee_cup_016_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coffee_cup_016_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coffee_cup_016_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/coffee_cup_016_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/coffee_cup_016_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_016">
+      <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" />
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+      <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" />
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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" />
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+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_59" 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/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fbe246dd7318db5ca501d7ce44a3c4992ac4d56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016.obj
@@ -0,0 +1,104352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_016_geometry_Looks_material_0
+v 0.040147 -0.000920 0.017670
+v 0.040147 -0.000920 0.017670
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+v 0.040014 -0.001536 0.017505
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86188185005749e4eb57d707c1b020079280dc09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision.obj
@@ -0,0 +1,18059 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_0.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fb146462216a2acd6a06fdf99fad589371e2cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_0.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_1.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7688fb3a2ae6f0eda7b74df1c04eb20445af0148
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_1.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_10.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd7fe6020e2d3b7741178696284cef3bb07ee0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_10.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v -0.00940106 -0.02806005 0.02385427
+v -0.00930947 -0.02804094 0.02315408
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_11.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187921344fe5b45297e3f9e372024665690be9f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_11.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.01654394 0.01705167 0.00188844
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+v -0.01654394 0.01706474 0.00206056
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_12.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd78be1de6e536e2dc788e196e8971763dea6f56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_12.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01446183 0.00326832 -0.01702537
+v 0.01450073 0.00311157 -0.01702537
+v 0.01253158 0.00326834 -0.02236840
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+v 0.01474129 0.00189161 -0.01702537
+v 0.01267563 0.00243891 -0.02236840
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+v 0.00015063 0.00326834 -0.02117950
+v 0.00015063 -0.00588228 -0.01798155
+v 0.01374735 -0.00588229 -0.01702540
+v 0.01478882 0.00138822 -0.01702537
+v 0.01275774 0.00189163 -0.02236840
+v 0.00015063 -0.00588227 -0.02135423
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_13.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bd1d5d1d96c7ed38710a0a19b1c3fea1cce63e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_14.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ae69ea5ee4482a99c7672b803b2f6bfcbc15c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_14.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_15.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fc0701885200a0c6d9bc11c83e67d454fbf957
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_15.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_16.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ff3cb318f1005c9122b85089fcce136e01dbf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_16.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_17.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..441005390f589f9c615bf1e83a4f70410e13873d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_17.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_18.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..444a4850e1119a7efa680a8b3b04ee4a707f96d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_19.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407de1c341a317f38e0247a15a922e6c5a16925d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_19.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_2.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14086aa7fd5a91689fdc23da07cd3902b227b0c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00014868 0.00000397 -0.01821108
+v 0.00014868 -0.00949052 -0.01734778
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_20.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd5b57ac1fae00dea5e8f290bff1c3ea5e38647
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_20.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_21.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710db861c289d398196eb9c9bd70980b85308d91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_21.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_22.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf3d153e858b5b47af31aa2e9bf694098950712
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_22.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_23.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2652565aa96e2ef9ef1f06d5b946b6f630d6baa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_23.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_24.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c541e97a03bb5368428379833db4641a16af68a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_24.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_25.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7668ddd6c6d5926c79e161767c57bf74cd3e55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_25.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_26.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2032018e0aa576067fa47ee8358b0ffa2b69f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_26.obj
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_27.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3eb10d6dbbfa9254e85e5415d7a8f2178fc7096
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_27.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00492196 0.02196196 -0.00987794
+v -0.00492196 0.02182436 -0.01020279
+v -0.00557513 0.02196098 -0.00987794
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+v -0.01103757 0.01638883 -0.00987796
+v -0.01149467 0.01615950 -0.00988084
+v -0.01149467 0.01199259 -0.01478684
+v -0.00492196 0.02060650 -0.01273243
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+v -0.00736136 0.01984240 -0.01349844
+v -0.00735225 0.02048549 -0.01242776
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_28.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884738d0d07816479dea1b9cf1a3d13f52301462
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_28.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02220378 0.00326825 0.00193927
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+v 0.01914981 0.00326825 0.00193927
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+v 0.02005936 0.01112427 0.00193930
+v 0.01649702 0.01149891 0.00193930
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+v 0.01548314 0.00326830 -0.00979308
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+v 0.01993606 0.01149891 0.00193930
+v 0.01251453 0.01149896 -0.00979305
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_29.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d517bed09caeef6557d5e2edbbe6823f5970f0f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_29.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.02787778 0.00000488 0.00021207
+v -0.02427528 0.00000488 0.00021207
+v -0.02798794 0.00000488 0.00083669
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_3.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba17230ce0e87c28b7764c3a36c8196e6df81c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v 0.00456468 0.01486353 -0.02381459
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+v 0.00477720 0.01252657 -0.02068925
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_30.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f038f969e6abb7b0eb83ab1c07c51bf42d698b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_30.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_31.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d4afac33d94eb8398aa351f72ad5f634f8534c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_31.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.00712527 -0.02708022 0.02381248
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_32.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853ade4120ee2f31e704626157032962e46e4cc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_32.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_33.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182940c9764e2a067edae202562a024f9d1b8f8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_33.obj
@@ -0,0 +1,292 @@
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_34.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9816b45bd8582e70a495830c31d0648cf33427be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01652767 -0.01663400 0.00185530
+v -0.01652767 -0.01177629 -0.00987644
+v -0.01652767 -0.02113844 0.00185528
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+v -0.01652767 -0.01696870 -0.00987646
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+v -0.00915945 -0.02082456 -0.00987648
+v -0.01600188 -0.01746468 -0.00987646
+v -0.01652767 -0.01716931 -0.00966401
+v -0.01652767 -0.02099074 0.00083437
+v -0.00915945 -0.02432601 0.00145219
+v -0.01652767 -0.02082583 -0.00016356
+v -0.01652767 -0.02068799 -0.00094675
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+v -0.01652767 -0.01905726 -0.00588703
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_35.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beed2d94f8938e3e30e06dcb4c359d251aa03cb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_35.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.02635138 -0.01006983 0.00356769
+v -0.02635500 -0.01005701 0.00356769
+v -0.02239921 -0.01006983 0.00356769
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_36.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fdfb1ca2a588c3e7f81a2fa67f74d89aba5cd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_36.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.01982133 0.00067244 -0.01736523
+v -0.01963837 0.00194614 -0.01736522
+v -0.01980816 0.00014744 -0.01736523
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_37.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e5e3c3f3dacc4d1e44f67d3b47e9afd66fd5fd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_37.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_38.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78bdd873eb99a54a2242b5fc624849652d97327
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_38.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v -0.00832831 0.01173698 -0.02675623
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_39.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97986a065f1893e404a590be7271fa147e2b786e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_39.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.00939497 -0.01545895 -0.02582023
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+v -0.00939497 -0.01527025 -0.02635983
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_4.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54dc57c94d77960771f88ffcf21bcd753b6fa59c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_40.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07077cbb936ec6e5771a841ffb16bcd483bcf8a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_40.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_41.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0c6127df64d5ba3e2e8baba0cd0db735c7d86f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_41.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00014973 0.02751546 0.02532581
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+v -0.00004251 0.02751546 0.02532827
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+v 0.00014973 0.02379343 0.02021877
+v -0.00906966 0.02263029 0.01976879
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_42.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3b5f3b6685e86e901e5ba5ef1f4d585b6e0c5d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_42.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00725100 0.02250274 -0.00140579
+v 0.01130788 0.02094156 -0.00140579
+v 0.01142483 0.02075339 -0.00200928
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_43.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0f6a8e74d18c2aa18f5b086f6489c5d60762e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_43.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
+v -0.01652767 -0.02204297 0.01227017
+v -0.01652767 -0.01781441 0.01227018
+v -0.01712916 -0.02199258 0.01227017
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+v -0.01652767 -0.01696697 -0.00987646
+v -0.01801712 -0.01007096 -0.00987644
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+v -0.01806503 -0.02090845 0.00446812
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+v -0.01652767 -0.02148390 0.00446812
+v -0.02672036 -0.01007103 0.00810362
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_44.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ca00012c255a2577cf076dc593a636a5775f5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_45.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b4cf32695e2c55e9514d8a19565ce79a84d214
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_45.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_46.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b05beb5c117bdeae571001d5d17cf71fff5d1e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_46.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_47.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398ec68249b534f101a53e98af41f3205998f031
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_48.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9909699d9f6e1ac31d21124293fcec916803bcec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_48.obj
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_49.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e08f2a30d95bc62c687f909a85eea7b1c0e9e11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_49.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00669208 0.00921899 -0.01736594
+v 0.00015063 0.00966806 -0.01736593
+v 0.00015063 0.01478191 -0.01478708
+v -0.00669208 0.01439219 -0.01478708
+v -0.00669208 0.01672360 -0.01736591
+v 0.00015063 0.01702331 -0.01736591
+v 0.00015063 0.01929437 -0.01478706
+v -0.00669208 0.01909852 -0.01478706
+v -0.00669208 0.01702331 -0.01711320
+v -0.00637255 0.01682153 -0.01736591
+v -0.00004229 0.01705002 -0.01736591
+v 0.00015063 0.01742193 -0.01700565
+v 0.00015063 0.01918655 -0.01493702
+v -0.00004229 0.01917962 -0.01495797
+v -0.00004229 0.01930228 -0.01478706
+v -0.00617092 0.01922710 -0.01478706
+v -0.00669208 0.01846745 -0.01564238
+v -0.00669208 0.01729137 -0.01687538
+v -0.00614145 0.01735962 -0.01694229
+v -0.00614145 0.01688186 -0.01736591
+v -0.00126212 0.01706782 -0.01736591
+v -0.00004229 0.01743182 -0.01701625
+v 0.00015063 0.01803223 -0.01636895
+v 0.00015063 0.01856439 -0.01576331
+v -0.00004229 0.01857032 -0.01577113
+v -0.00492162 0.01918755 -0.01497564
+v -0.00492162 0.01932404 -0.01478706
+v -0.00611733 0.01923502 -0.01478706
+v -0.00614614 0.01920633 -0.01482063
+v -0.00614145 0.01852285 -0.01570928
+v -0.00614145 0.01796992 -0.01631467
+v -0.00669208 0.01827952 -0.01584788
+v -0.00492162 0.01743677 -0.01702206
+v -0.00538785 0.01699759 -0.01736591
+v -0.00370178 0.01708661 -0.01736591
+v -0.00370178 0.01743776 -0.01703266
+v -0.00004229 0.01804212 -0.01637652
+v -0.00492162 0.01857725 -0.01577845
+v -0.00517014 0.01931613 -0.01478706
+v -0.00492162 0.01804707 -0.01638409
+v -0.00424103 0.01708167 -0.01736591
+v -0.00492162 0.01705991 -0.01736591
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 32
+f 1 32 18
+f 1 18 9
+f 1 9 5
+f 1 5 10
+f 1 10 20
+f 1 20 34
+f 1 34 42
+f 1 42 41
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+f 1 35 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
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+f 2 23 24
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+f 2 13 7
+f 2 7 3
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+f 21 35 22
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+f 22 37 23
+f 23 37 24
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+f 28 30 29
+f 30 38 40
+f 30 40 31
+f 31 40 33
+f 33 36 41
+f 33 41 42
+f 33 42 34
+f 33 40 36
+f 35 41 36
+f 36 40 37
+f 37 40 38
+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_5.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af582835a0f6b9d31e247cb898923fd7112755f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_5.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00370271 0.01708752 -0.01736591
+v -0.00248278 0.01507918 -0.02209403
+v -0.00424230 0.01708083 -0.01736591
+v -0.00126285 0.01706745 -0.01736591
+v -0.00370271 0.01501898 -0.02209403
+v -0.00492264 0.01706076 -0.01736591
+v -0.00004291 0.01704906 -0.01736591
+v -0.00126285 0.01502902 -0.02209403
+v -0.00406439 0.01497049 -0.02209404
+v -0.00492264 0.01485510 -0.02209404
+v -0.00538989 0.01699722 -0.01736591
+v 0.00014868 0.01702397 -0.01736591
+v -0.00004291 0.01487183 -0.02209404
+v -0.00046520 0.01492701 -0.02209404
+v -0.00614257 0.01459591 -0.02209404
+v -0.00614257 0.01688183 -0.01736591
+v 0.00014868 0.01483336 -0.02209404
+v 0.00014868 0.00966614 -0.01736593
+v -0.00741334 0.01423805 -0.02209404
+v -0.00637327 0.01682163 -0.01736591
+v 0.00014868 0.00788857 -0.02209406
+v 0.00014868 0.00000564 -0.01821107
+v -0.01252571 0.00000563 -0.01736597
+v -0.00738597 0.01650892 -0.01736591
+v -0.00735860 0.01651896 -0.01736591
+v -0.00846514 0.01381330 -0.02209404
+v 0.00014868 0.00000565 -0.02117726
+v -0.01086785 0.00000565 -0.02209409
+v -0.01980425 0.00000563 -0.01736597
+v -0.00825790 0.01613100 -0.01736591
+v -0.00989621 0.01312267 -0.02209404
+v -0.01148173 0.01464940 -0.01736592
+v -0.01077988 0.01497883 -0.01736591
+v -0.00858244 0.01598719 -0.01736591
+v -0.01780231 0.00000565 -0.02209409
+v -0.01980816 0.00014777 -0.01736597
+v -0.01084830 0.01254742 -0.02209404
+v -0.01235953 0.01417281 -0.01736592
+v -0.01233021 0.01418953 -0.01736592
+v -0.01982184 0.00067286 -0.01736597
+v -0.01780231 0.00067288 -0.02209409
+v -0.01105554 0.01240193 -0.02209404
+v -0.01312981 0.01365275 -0.01736592
+v -0.01963807 0.00194710 -0.01736596
+v -0.01769478 0.00189361 -0.02209408
+v -0.01217381 0.01158588 -0.02209405
+v -0.01374955 0.01314606 -0.01736592
+v -0.01895381 0.00493204 -0.01736595
+v -0.01748950 0.00311267 -0.02209408
+v -0.01345239 0.01042535 -0.02209405
+v -0.01436147 0.01254071 -0.01736592
+v -0.01880523 0.00555411 -0.01736595
+v -0.01717670 0.00432504 -0.02209407
+v -0.01459999 0.00913104 -0.02209406
+v -0.01490693 0.01190860 -0.01736593
+v -0.01872117 0.00586180 -0.01736595
+v -0.01837708 0.00685511 -0.01736594
+v -0.01677788 0.00537855 -0.02209407
+v -0.01538786 0.00801733 -0.02209406
+v -0.01759703 0.00832835 -0.01736594
+v -0.01703399 0.00911764 -0.01736594
+v -0.01538590 0.01128653 -0.01736593
+v -0.01837317 0.00686347 -0.01736594
+v -0.01610144 0.00684008 -0.02209406
+v -0.01671141 0.00552905 -0.02209407
+v -0.01553644 0.00779493 -0.02209406
+v -0.01780426 0.00799390 -0.01736594
+v -0.01796653 0.00770962 -0.01736594
+f 1 2 3
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+f 64 67 66
+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_50.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7cf43472fb114e27b0f454064d034d50cecfdf0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_50.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01149420 0.00460955 -0.01736544
+v -0.01149420 0.01199138 -0.01478709
+v -0.01149420 0.00573867 -0.01736595
+v -0.01102134 0.00553724 -0.01736595
+v -0.00669322 0.00921965 -0.01736594
+v -0.00669322 0.01439289 -0.01478708
+v -0.01149420 0.01701143 -0.01478707
+v -0.01149420 0.01464398 -0.01736592
+v -0.00669322 0.01672349 -0.01736591
+v -0.00669322 0.01909804 -0.01478706
+v -0.00858184 0.01843418 -0.01478706
+v -0.01149420 0.01677455 -0.01510289
+v -0.01149420 0.01502981 -0.01703266
+v -0.01078068 0.01497874 -0.01736591
+v -0.00735691 0.01651923 -0.01736591
+v -0.00704951 0.01724691 -0.01683196
+v -0.00669322 0.01702279 -0.01711320
+v -0.00669322 0.01908527 -0.01480549
+v -0.00737149 0.01893491 -0.01478706
+v -0.00840463 0.01851929 -0.01478706
+v -0.00858184 0.01810510 -0.01520361
+v -0.01149420 0.01619014 -0.01583451
+v -0.01102134 0.01513761 -0.01713112
+v -0.01149420 0.01563550 -0.01643939
+v -0.00786268 0.01710223 -0.01669261
+v -0.00858184 0.01598871 -0.01736591
+v -0.00738512 0.01650930 -0.01736591
+v -0.00737243 0.01653767 -0.01734546
+v -0.00669322 0.01710365 -0.01704175
+v -0.00741943 0.01777176 -0.01615007
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+v -0.01149420 0.01590644 -0.01615412
+v -0.00825798 0.01613198 -0.01736591
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+f 1 24 13
+f 1 13 8
+f 1 8 3
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+f 25 28 27
+f 25 27 38
+f 25 38 26
+f 25 37 36
+f 30 36 31
+f 31 36 35
+f 31 34 32
+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_51.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc1acc139e0ce7c1a89ad06613e9669c1ec4ba2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00015063 -0.01911409 -0.01443838
+v 0.00015063 -0.01887578 -0.01478158
+v 0.00064239 -0.01907912 -0.01443838
+v 0.00015063 -0.01482438 -0.01443836
+v 0.00015063 -0.01829552 -0.01559094
+v 0.00078779 -0.01827738 -0.01556770
+v 0.00073551 -0.01907135 -0.01443838
+v 0.00849573 -0.01025232 -0.01443835
+v 0.00015063 -0.00588229 -0.01798105
+v 0.00015063 -0.01394621 -0.02068813
+v 0.00160139 -0.01820615 -0.01547960
+v 0.00118805 -0.01862320 -0.01501160
+v 0.00118233 -0.01903379 -0.01443838
+v 0.00849573 -0.00588230 -0.01633786
+v 0.00849573 -0.01590717 -0.01443837
+v 0.00015063 -0.00588228 -0.02068810
+v 0.00026336 -0.01391901 -0.02068813
+v 0.00180315 -0.01702492 -0.01673921
+v 0.00228510 -0.01738369 -0.01615620
+v 0.00239783 -0.01808051 -0.01532421
+v 0.00239783 -0.01854291 -0.01471796
+v 0.00040223 -0.01388404 -0.02068813
+v 0.00118233 -0.01368717 -0.02068813
+v 0.00242969 -0.01872683 -0.01443838
+v 0.00849573 -0.00588228 -0.02068810
+v 0.00827436 -0.01605742 -0.01443837
+v 0.00849573 -0.01558985 -0.01485254
+v 0.00355451 -0.01292041 -0.02068813
+v 0.00361823 -0.01720107 -0.01572001
+v 0.00681054 -0.01586442 -0.01559950
+v 0.00327351 -0.01837583 -0.01449283
+v 0.00330128 -0.01839785 -0.01443838
+v 0.00849573 -0.00913712 -0.02068811
+v 0.00823025 -0.01599266 -0.01456195
+v 0.00762413 -0.01567014 -0.01536948
+v 0.00849573 -0.01547845 -0.01498345
+v 0.00386737 -0.01276628 -0.02068813
+v 0.00724102 -0.01617139 -0.01494613
+v 0.00849573 -0.01390219 -0.01656791
+v 0.00732026 -0.01035072 -0.02068812
+v 0.00849573 -0.01479458 -0.01574448
+v 0.00472998 -0.01233627 -0.02068813
+v 0.00849573 -0.01405891 -0.01643210
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_52.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b50afab22bf5d2adb5f5f2b9225070e96e51ec64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_52.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.01721070 -0.00588233 -0.00410878
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_53.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77dcb5b31f31580814fa1548a7cc743b949b4f23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_53.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00015063 -0.02232756 -0.00728164
+v 0.00015063 -0.02227786 -0.00745539
+v 0.00032626 -0.02232992 -0.00728164
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_54.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f87d7ba6738d5419e1ec2a32d542ae0a68a834
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_54.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v 0.04270739 -0.00054798 0.00931627
+v 0.04250777 -0.00176845 0.00931626
+v 0.04266208 -0.00054798 0.00810511
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_55.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c181e5e21308057c93d0aa13b63c3502a8f3dc2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_55.obj
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_56.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc8b3ed3188ad0d5e2ff64b9f8ae39eb72e4d31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_56.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.02342273 -0.00588241 0.01728262
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+v 0.02638448 -0.00176837 0.00847533
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_57.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd9923898f52dbd90d35e76f57fd8c0254fff1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_57.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02120067 -0.00358272 -0.00411240
+v 0.01774708 -0.00358272 -0.00411240
+v 0.02117172 -0.00420895 -0.00411241
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+
diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_58.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01cdf893fe9f7ecca533b926feebc5db01b704fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_58.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01386350 -0.00358269 -0.01230937
+v 0.01397966 0.00326831 -0.01230935
+v 0.01819976 -0.00358269 -0.01230937
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+v 0.02094913 0.00326828 -0.00411238
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_59.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6a7903a40244a68af660726c2084c89675e0b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_59.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_6.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf4228a6ddc4cd3449cb8f8316f61cba2dc4406
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_6.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_7.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db35736ea3f3dfb74afcc9c14d0b1e5a5e827dc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_8.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc09f917b88d2813af879a910f1ec5050082d17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_8.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_9.obj b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551681d03e0ff42395dd9b5faf21ac695336ee35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mjcf/mesh/coffee_cup_016_collision_9.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
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