diff --git a/.gitattributes b/.gitattributes
index b15c991fc40a333abf9bdc06e88f26991dbb010b..484cc0f0b93cc01b4ecee1cc6de0b44d176ba204 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4722,3 +4722,6 @@ dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb
 dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/mesh/mug_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/mug_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.urdf b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3dbb75f414521e09a36ad326c60411a5b831d784
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="yellow_cup">
+   <link name="yellow_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>yellow cup</category>
+         <description>cylindrical yellow cup with black rim and white handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120141207</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.449370384216309</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.usd b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..03885eaebdfee758d43d04d675569950201e9379
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d48349e913e88e9b07df76754a62b5fe4fb41abbdd3af4d7469bf3e4c5fe44b
+size 969627
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/material.mtl b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/material_0.png b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..02783fd445785a043706a3e4574b8a849ee07b6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d7d912d7f84296099d3327647844d61195e83cd74e2a675573219c58824d4b2
+size 1348317
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e2bab6235d18e5a0d8fe7d4af9047d66d7286a3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:726390db260de6a8af5dfc89279efd54973a09f7f20c887e08d67ea409222b91
+size 2003544
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d25290b53ee96762c94b787082374482cc12a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.obj
@@ -0,0 +1,59806 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c09eac3b4cbcebd8fa9ff9f92682abea956178
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup_collision.obj
@@ -0,0 +1,27332 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..02783fd445785a043706a3e4574b8a849ee07b6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1348317
diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a02ecabbd49c1f4a8824cfc3616ecd6fb0bfda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702f5eb59b940906591de5e1efaafdc4eb280957
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,27332 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24189f4ba26c3e51bab46bccde763b8f9c16c704
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6201750a7ca4e5349567d365abf8c99b038327be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b17b2c03833cf9ca57af7b2783aa9938ff7577d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e2690b6cfb071fc0c56ab19178e2646c4e8aec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_11.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c3c10b8ac600d203411c2a82e76013004c06d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_12.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5be2c76ebf7a187faade4e2f3a696b1ba713ea3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_13.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3660b7203beb0f85cfee60a54eb7ee119ab53be6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_14.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c583f7577b616bd7d6632fde69f15ead0bf758a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991a83da4a6151649673ff978bbcdef431217036
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_16.obj
@@ -0,0 +1,1450 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6182bb72d8095130c221621bbfbe28a4f003c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51fc902531f0144a8149968a69ee0a364227ddf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_18.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c299bab62cd2f38bb9e599fe7c8e77025c43f9c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_19.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54856b8d4bc0d3b5d49c16f465eeacad05a81da4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36005d60f20e60687a0332abd8129fb18a45fb86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_20.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401d7d4782f916a37bda6739e33b0377745c0762
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_21.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055b87cb89b2a66773c6331e791cd861d342743b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de88aa036b83766132bd3e2f37e87bf33800322e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac3115cadaa7b6ebf92082bcc1ad88c30fe5180
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,802 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdaa8137321cde22f3fa90e670239a41f66f20d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feed673f3b0506353d3e6233f1313028eac4cf3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_26.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d509c3efdaad099e5b4bbe2e0a0b76d054c1cac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c940b3c0a076f8dba9f92ccce37ce97a5fe5f626
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_28.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b52c518f534929f26a615141eab0ec84cb444b21
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4295a009ae650d72a8587d507a85f7a2123e935c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_3.obj
@@ -0,0 +1,919 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d0ac6965b228994c17da49f1e388c57ffb4a99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_30.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a810381c17e675b95917886d384f37826f462df1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c8cf97b8e316fea735eec9c42338e45312c725
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2268bab5e747663193b2460f5f8c3f43a2833623
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aacbf5d1fbfe2caa41c0de7be0c369b20bc4e309
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203daeece255c2bdd735f69f2a4aa5f6892ef20c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba52147cacf0d34e8f2a731999cd9640946f0bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f2a64f42ef9667dd11db6ccbd6cb6478e5be66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae95c825d088ee4598bd22afae23ea35c88bb3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_38.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8cbfffa86e0359eee2e842545940773dc5e1b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e61ff1c916b892a41da2e038bfb8b71fc08f88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2893b5e8efb251553674fb64b747a8505bf2a544
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_40.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e62bace7ff401af0d27b7cb4597409879218c8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_41.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ff41ac9015b402cff50921c1aa3e9308877ed4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_42.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0a897f24c7e1f7816ec03adeea88ab6860ea0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_43.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b38666fba8f070f62e900d8b4eb62f31d57c3cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_44.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a5cda16f5e5bc60c2a78e15fcad402f6053a5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba51740180060c675e4070dea436f4f69e773ea8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1005f13c86cd44db0bd100bbab200be035d21df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_47.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_48.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb4d0d0627bb3abb53cb4ff4c91661498333c1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_48.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_49.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c79eef294b725171a0d89ceeb2f46c2552a060
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_49.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a779d0c11f3cb63ba3bf4c685f5a86f134d260a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_50.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a33cb22587e103015fe9910f6d4e21835ecc54f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_51.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a451341414e808c170567a5adda26d56d68c4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_52.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054d34b452d489ea281b3ce25ed6ad58bb32df38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_52.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_53.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75612d2fa2f5deeb2af9cb62e6da7102daece702
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_53.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_54.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3839b4749e2fcb452affe50f5d453738d21eebda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_54.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_55.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef6d9d3238d1d3a158679d9e3017d02dd449630
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_55.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_56.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b213adda1092e7c5c2072401d302bc43545e3c0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_56.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_57.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8370319e3be345c450d1362b10e2216142afe45d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_57.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_58.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8385e35df6c20082c4aa7b3eb0e8ccb1ed7a5228
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_58.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_59.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6736290c1751c48f6dfcc98fc4e0a12473ce4654
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_59.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782d2e21ad8e28c8ab6de51b3ab1bf1347d605bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9cf8b19034dcf4c8b54f3aef71c9ff321258856
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f3512c596fd8edccfe1e0cb371e706d9878516
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,868 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c367f1c150471fb01d85b5c13869277f42fb78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mjcf/mesh/yellow_cup_collision_9.obj
@@ -0,0 +1,424 @@
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