diff --git a/.gitattributes b/.gitattributes
index 0b6f3354763e901c3b1b06767f48f8b1da26130b..86f535f3305b001fe6576ded0b94f16aeb5854aa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4666,9 +4666,6 @@ dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/29f5c30ddb105b468
 dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/coffee_cup_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/mesh/coffee_cup_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/mesh/mug_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/mug_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.urdf b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..226981b81ba38a59cfa28c9ac96de2ad66478177
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.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 metallic rim</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>20260120140832</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.399972915649414</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.usd b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.usd
new file mode 100644
index 0000000000000000000000000000000000000000..74e8027a847d66c5e351129db991102fde5f2372
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/2cebfef66ea557fe84085fd5b2bb5123.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61b306c44c9088f3c66ad1fab70807908206d34326e4b944f97eb2f657b1b64d
+size 1372820
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/material.mtl b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/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/2cebfef66ea557fe84085fd5b2bb5123/mesh/material_0.png b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..223edc5cc19b53df3b8f8af75fdfde83f9fc90ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af87f44dbba4f7d75e5d16aa409feea17b0283b68ca72e628633f4d509a9b4b2
+size 1081247
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..861f07cfdc5bac687e5cb34d043ef3d2d51dac0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26e530c11445b4d85b6e193be2092788e0af361fd647771ea5482e86df3b612b
+size 2016392
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857b080040812dd926cd244923f7e4afcf38a219
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup.obj
@@ -0,0 +1,85578 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af7740dfaf0088c1b4d6679aee87f7d492b953df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_collision.obj
@@ -0,0 +1,19977 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_gs.ply b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..41a69d7513a8b1d73fe89b99d65f003f29552907
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mesh/yellow_cup_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/2cebfef66ea557fe84085fd5b2bb5123.xml b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/2cebfef66ea557fe84085fd5b2bb5123.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2391692d7bf4c093406dac3e8509f0de97fb5e50
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+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/2cebfef66ea557fe84085fd5b2bb5123.xml
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+<?xml version='1.0' encoding='utf-8'?>
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af87f44dbba4f7d75e5d16aa409feea17b0283b68ca72e628633f4d509a9b4b2
+size 1081247
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1277f108e77f6ec30f09570486ae2181b4d036ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.032787 -0.045011 0.061616
+v 0.033600 -0.044373 0.061603
+v 0.031459 -0.046061 0.061643
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+v -0.023886 -0.005548 -0.056100
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f291a1fdcf43afe42ec55184407d4db1cfac20e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,19977 @@
+# https://github.com/mikedh/trimesh
+
+o yellow_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64c0b8b495df8308e71d8b966daa0a83264a64ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_0.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a263c741372d23fb0e60f760b1e93e9c44d52cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_1.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4d9d88fd4e87f8a5ea1d6c11267e7f312a2adf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_10.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1b044a8101e908603a2eeff05dd4ec32716257
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_11.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a6398734179571f770a959c83ddec80011bb06
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_12.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08df1b5ce62fe02fa1bf3a1737b19e7caad0643
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584f2bef8f50dba9d1adbb955638d7db0ebeaa9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_14.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61429057a961f2b8d44cd73de785310dac499200
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.02790658 -0.01808172 -0.05445411
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+v -0.02790658 -0.01734465 -0.05445510
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+v -0.02810530 0.00001726 -0.05784994
+v -0.02790658 0.00001726 -0.05784944
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5083dccbfc943dcc32de6420e2a4bea929e4fb98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_16.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b5520af53153ce865d5365a317ece653dc6fab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_17.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3aa688ce93e2bc239a5aeac329eccd9851409a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_18.obj
@@ -0,0 +1,346 @@
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc372fcbb548a907e431f3b9a18b5e7e83f7648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_19.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.02993766 0.02820531 -0.05406876
+v 0.03074064 0.02696765 -0.05406876
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6115cbf974d2bb724624eeb56ff09136050ed137
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_2.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00005142 -0.03201744 -0.05446654
+v -0.02790385 -0.03201745 -0.05305857
+v -0.00005142 -0.03201743 -0.05784209
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+v -0.02603593 0.00001413 -0.05784700
+v -0.00005142 0.00001413 -0.05779815
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e8c0055e92a94bea1cc1ca5475200dba4824c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00011492 0.04736274 -0.04441992
+v -0.00011492 0.04641429 -0.05406960
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f8bfb48bec4e3b1530e5b98fc3058b84e0a25f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_21.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.01576588 0.03985003 -0.05045157
+v -0.01576588 0.04410234 -0.05045156
+v -0.00011492 0.04284536 -0.05045156
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+v -0.01576588 0.04104573 -0.03810143
+v -0.01569694 0.04412786 -0.05045156
+v -0.01576588 0.04411254 -0.05036235
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..422c8350fa84fe2369505d3ec890c2d5bcaeb675
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_22.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d1f2c765c8704c34ee18ce9d7435c83fea38fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430bf46679f429058a01a5b8cbf28bacd3061ad8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36fb4803457067190688a6bdc7973c05d44c67a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8082976ff76572e833d1a41b35330fa0eede3767
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3a6b3e04bb8394c8eb5011d81ac692878afcdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c4c9a876b09b11fac73e8c7bf2833789999adfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_28.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f58757ef3ce9c2c402925e42a65fddfe2123ea0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d5ae5a657a6c5a220b2606aaa6129bd4c87f91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_3.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24aba9750053dee0f4d1a31d3069ed4f86685c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_30.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ec28682039374d4ba24aeb51ffa106d5a0a4ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f56e6eb6645a575a7ffb82cbecfa46de3b363f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_32.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5da4fc1e6e8f34431a915863a86fee845b21bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_33.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951cfa84c3439ebf60c9270921dccb35aa3f5cb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5c969858d0fb092f06aa9f5b7ca5c9c40bc184
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9204b7a535a312592ab59b2fa1fe0af29f1d37b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dcbf413b6daf66ee99502c04e21c8f59221ceed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_37.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d80ebcda9db90ea3b179dbd36de242a0b67745
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_38.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8354c13984d1fcdaea6c2c9be8c1c9af964256ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce26df81f8bcc90fdef9cfa3aff049f7e2660ba8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_4.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c112eebdd908f979a280c80a3f33dd05aeb7b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_40.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36152e0a9760b9ea0b08382afce2c60bf34bbd56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_41.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5c9b7a30e2eec1b2fe88a896cdbaa200408b16f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_42.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad16b37b84e3c6ffb9aa1acc1e03193c35f206e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_43.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3b1b1da4ad37d29fc3dd5a54482c380f08264e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_44.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088f73c1a25b295c52f3c0e6c251c8e9a712ca8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721c9900779b641cbbe8588df867b7311ad2311d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15bfcce32294288ad932aebc48e0647db419d40b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_47.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_48.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8824a88afa28f17b058956ad9e7f369afc30e37c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_48.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_49.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3c748550204d5b264f5c354dbc016879f0da89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_49.obj
@@ -0,0 +1,196 @@
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794466ebab1c66a6b417d308cdbb87a306a22580
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_50.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056ed7317a7dd1540ba834c4abe0ad80679a0b17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_50.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+v -0.01727105 -0.03201744 -0.05445781
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+v -0.00005038 -0.03267948 -0.05446603
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_51.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0ac0d35811b0f4686250a0d66856fb081f9d74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_51.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_52.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a94b51a8cfaf5950fd11e3b905bb7a63cce7512
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_52.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01632812 0.05515846 0.05322712
+v -0.01582638 0.05512094 0.05322712
+v -0.01582638 0.05477988 0.05086057
+v -0.01836826 0.05513004 0.05322712
+v -0.01582638 0.05067220 0.05322711
+v -0.01582638 0.05476623 0.05080799
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+v -0.01582638 0.05063014 0.05280860
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+v -0.02994700 0.04354376 0.05080795
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+v -0.01799368 0.05415912 0.05080799
+v -0.01881333 0.05384420 0.05080799
+v -0.02197167 0.05252765 0.05080798
+v -0.02333867 0.05194896 0.05080798
+v -0.02440159 0.05147373 0.05080798
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+v -0.02603121 0.05065174 0.05080798
+v -0.02738715 0.04989569 0.05080797
+v -0.02847909 0.04926244 0.05080797
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+f 17 19 18
+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_53.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e43a2856586f26d7e7fde3aeeb9ffa2e6116fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_53.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02307196 -0.03483918 -0.05901257
+v 0.02307196 -0.04009515 -0.05901259
+v 0.02307196 -0.03652659 -0.06213776
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+v -0.00004869 -0.04199196 -0.05901259
+v 0.02248806 -0.04043443 -0.05901259
+v 0.02307196 -0.04005036 -0.05931815
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+v 0.02156468 -0.03791840 -0.06232619
+v -0.00004869 -0.04416644 -0.06236069
+v -0.00004869 -0.04369392 -0.06218130
+v -0.00004869 -0.04627153 -0.05901261
+v 0.02194716 -0.04074795 -0.05901259
+v 0.02171858 -0.04061582 -0.06081147
+v 0.02307196 -0.03984433 -0.06072111
+v 0.02307196 -0.03934045 -0.06213443
+v 0.02133384 -0.04002908 -0.06224186
+v 0.01945314 -0.04004139 -0.06243163
+v 0.00291381 -0.04416644 -0.06238913
+v -0.00004869 -0.04496257 -0.06230781
+v -0.00004869 -0.04606662 -0.06081149
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+v 0.02068657 -0.04117344 -0.06081147
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+v 0.01945314 -0.04133019 -0.06209327
+v 0.01738459 -0.04173441 -0.06233624
+v 0.01118347 -0.04377566 -0.06236269
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+v -0.00004869 -0.04556274 -0.06226632
+v -0.00004869 -0.04585051 -0.06143666
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_54.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc94bf160245fbf8921bcc75ba303cf7213b101
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_54.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.01280036 0.05724458 0.05348175
+v 0.01280036 0.05559508 0.05074608
+v 0.01280036 0.05154514 0.05348173
+v 0.01339402 0.05718235 0.05348175
+v 0.01280036 0.05126883 0.05074607
+v 0.01530519 0.05496334 0.05074608
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+v 0.01857807 0.05390550 0.05074608
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+v 0.02500320 0.05283605 0.05348173
+v 0.02500320 0.05110113 0.05074607
+v 0.02152128 0.05265255 0.05074607
+v 0.02409659 0.05154410 0.05074607
+v 0.02306933 0.05199233 0.05074607
+f 1 2 5
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+f 1 3 8
+f 1 8 12
+f 1 12 4
+f 1 4 2
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+f 2 6 11
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+f 4 12 9
+f 7 13 12
+f 7 12 8
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+f 12 13 15
+f 12 15 16
+f 12 16 14
+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_55.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5535cb8f5dfd7d2f08d3f3dd213b7ac6e3cb548
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_55.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02961475 0.02634409 -0.05791593
+v 0.02772406 0.03269088 -0.06213498
+v 0.02961475 0.03197545 -0.06232677
+v 0.02961475 0.03517760 -0.05791590
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_56.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a1c6745bb9c92384909bc7d984d1a8dfce8db3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_56.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_57.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342561299fff6f74437b93b2ebffdf59daff1913
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_57.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_58.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92afbb111877db0a2abc59d46bba8a789b981101
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_58.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_59.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e2567caceacaf1c12d42283ee0d68abac2c93ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_59.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb5bb1fb53669f0b10c62996cf78e6b4385fe39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_6.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.03559497 -0.05043364 0.05692852
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_60.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c3ecffd1c6bb5923ab6e693dcc3e9fb0570979
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_60.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_61.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e7404be30cc1ea056961899e86ff87af2188b94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_61.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_62.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039c60fe3342aa6c9e4e7ebe45b05703137678e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_62.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_63.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7210d36e98f70e15f2d637a7fade90d51fd95f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_63.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_64.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8721f23c02ef8478cd620020cc941f12fe0a7f12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_64.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_65.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377d079bfc9fe6ce2cead18e5700740be3dd7b75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_65.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_66.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4404f85edb6afeeec03c4aadea74aa07b02485ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_66.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3b88a644bfd8e0ed65bc74c4517c4ebcdea3f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_7.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02be2afe5c92d1a932923c7d421f8fe96ebb2e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8da20b144ca15aaf2ac07dd193a2deffd15d79c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/mjcf/mesh/yellow_cup_collision_9.obj
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