diff --git a/.gitattributes b/.gitattributes
index d69fa4453a25e1b80a8b299d77e81b3d9fbecf54..c5bfd8dd149e98f5eba89c62c227e8d348ddbbdf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4757,3 +4757,4 @@ dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b
dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/8fcf16a567b15d20b9df625e271d5903.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.urdf b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c9d16e21aa7547ffbc5045d61c5147b5363f8048
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.urdf
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..72ec9e21dbbb780f554edf8562721657d445e658
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+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup.glb b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6263d3fe0563bdb670c76437eb3c2eb54f443789
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d6d7dc518ac44bfce80ff4fb9445024785f3aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup_gs.ply b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f506a5c05873cfa51075a9d1271da8e67b1ea37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/material.mtl b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
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+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/material_0.png b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..02d0dfd8f3272cf11cff62f70e13d867624f600e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/9c4e7899a1605df696429194cce315a7.xml b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/9c4e7899a1605df696429194cce315a7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dc49d7d24dad87f6547463105e94de69cb60e123
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/9c4e7899a1605df696429194cce315a7.xml
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0190be192f00e5bffe2b64a5168df4843f2e2254
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3862a161c6651123f07c3a56724a277e2d501b92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision.obj
@@ -0,0 +1,29410 @@
+# https://github.com/mikedh/trimesh
+
+o cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_0.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb012a3b8ab1e8b3289f2dfb542a8fa04c4b065b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_1.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec614ae8cdc328750ab78f89a89b64e6c9806be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_10.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef5f3dfdcdb654f58fa32618253396fac27b7a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_10.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_11.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c2a6715d2af52ba63814f41e0cb80b5b45d3a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_12.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d8a578fa347cc4556015549ecb989b169e19da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_12.obj
@@ -0,0 +1,1390 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_13.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc8e80145b141c6b0fef387e42a5f23fbf68cc6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_14.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a749bdcd72c5def0e1d610205aefc7af03e04c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_15.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec0af83dff8626fdd01f0a0581887701f2de53d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_16.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1dca557dc459ab393d038be19b965c8e300d40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_17.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d0f41d3b466116987403f2adc49f18e2b0cf49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_18.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5378dec4c7be8c1e5d9736fd17302888fa6a27ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_18.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_19.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15de3a44e81d2d7c2dd3be7fcef9806d3efeb280
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_19.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_2.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b4fb61232de4409f0f3d136f41db30be912ebd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_2.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_20.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18eb7fefe3469b17e8dd4753fb28e076daa2a52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_20.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_21.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797ef003885b0a753ec1ab0b7fe7ae2e94f62987
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_22.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4fa62921e6128c2f8d9abf375d418e7f21650e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_23.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b658541d96bf200ae18d91e17982b5a8d01ddbf4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_24.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28df8593d8396fb4916320e210cad448f6c35f55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_25.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a0d01ed27ad3cc78db395010e64cc5cf182ab5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_26.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633799e2fb509a3a2b2b23ce14559e97c09b93d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_26.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_27.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e84f80c44069b9db3e34ef550396ccd44ce42a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_27.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_28.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc55bfdba2d33008e8137c97bc04e4f9c4a4cb42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_29.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad880e2a6d035febf2344ff3612e9b8b1f10d59c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_3.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2180a41c1878e44fbab912625a43fad6e1e2c5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_30.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba59dfa0c741ca4ee92c6c9e6f1ce42b0a4f781
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_31.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46536e3a85043c2a27d79e6c0804875c860e2c86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_32.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111f7bc1ddcc15461576a956c933657262e308e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_33.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a0d21d5a0fbced717384ea4bd9938985995340
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_34.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829e05767ff2e8057a3052b7ef90ef308fed7398
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_34.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_35.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac2c5d354d9921b0b4ad53ec29c0ff093e7e417
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_35.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_36.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37339fa0caaf67ff20458b77509a7bfa2f0ed72d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_36.obj
@@ -0,0 +1,1114 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_37.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7005333ae3833bd15f7d6b535c8316632161ac55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_38.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed2ef8ce831b5aa662feaad5c8a915f957f5793
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_38.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_39.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac12ab67b4b55ad23c0ff15692944fa598d60c20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_39.obj
@@ -0,0 +1,802 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_4.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832a90df985283e9d23549fb7452e2229df8134b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_4.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_40.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49f08b4db655c25cebf252b3d47430d4f54073e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_40.obj
@@ -0,0 +1,1294 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_41.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1305859f91ddc31f547c3305a4e38fe77dc02d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_42.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d528556147b905fa59acad0dfa4f7b537696e766
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_43.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c28f9e60c27172fac887ae0ff92b05e29b4c5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_43.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_44.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6d8fceff6554061db9a2b3357df100840763ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_44.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_45.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805023eb2c7753040abc89007b4b76d51d98beaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_45.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_46.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b508604d81b21765157cb3b790cba08f8e41e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_46.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_47.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704876025760c93f4e4106aa81bdfefb82ad1602
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_47.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_48.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a3d603230939e9d5aebdc2078924459fc88589
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_48.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_49.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb84bb14f4f6f7b1491aa238ed119150cfd6e494
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_49.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_5.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ed7cedaaa6ff753bbd94987a0cf4810b9ff427
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_5.obj
@@ -0,0 +1,826 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_6.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a3c78aa771747e976f1187722afb60eea7cc88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_6.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_7.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021a032184aadc01265814c8e88a43766718b1bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_7.obj
@@ -0,0 +1,904 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_8.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666e484d80086cf914bd1f4ba5828a5e0551982d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_9.obj b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84145e772c6b13d4350ac526e8bbf00b4735048a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/mjcf/mesh/cup_collision_9.obj
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