diff --git a/.gitattributes b/.gitattributes
index ab91c5b570428567a105152de13dca49342e7b5e..8342b2c8419428b2455108d9f5d385507eca5951 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4753,9 +4753,4 @@ dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.
 dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/mesh/thermos_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/thermos_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.urdf b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f325549371f66b3fefa09169afe8b9b5494ae853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="blue_cup">
+   <link name="blue_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/blue_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/blue_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.162138</scale>
+         <version>v0.1.5</version>
+         <category>cup</category>
+         <description>simple blue ceramic cup with a rounded handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20251006053112</generate_time>
+         <gs_model>mesh/blue_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.003991365432739</ImageAestheticChecker>
+         <overall>YES</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/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6ccc4bd700359f9cb86c21d281bca647b57c9968
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:889dd01cd53b5d32f87ae319924f9db79737dad0f713fe53741e024a171f6273
+size 352244
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup.glb b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..27971e20251a530d7c54d1bf71aa3fd8d969336b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e09cde8bd9797f6f608913b86c708a4d256482e24bcdef2eb4591230d02966
+size 1441716
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f836f7ad9c2d827f53a65af185496fdb7b924261
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup.obj
@@ -0,0 +1,21660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup_collision.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78739cc1092311171e71af0c5811a1e95679e33d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup_collision.obj
@@ -0,0 +1,24760 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup_gs.ply b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d7c73caaf5595d9a52b59a54a5e0d6107d44af5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/blue_cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06fe85a2c16cfdfc8152938bc1fb59c1bd3e8e881f655b8606d67c10de91777
+size 41081962
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/material.mtl b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/material_0.png b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80c5ac5008fc5ac2ae4e91e545920ee7d7462a3d9f0e4cd85a62c4dacb4d0b6
+size 1203853
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/857a0c9d0e755806b1edd345dab9d9d2.xml b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/857a0c9d0e755806b1edd345dab9d9d2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..57631576fdcfe5e55a73ad59032549564af56d91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/857a0c9d0e755806b1edd345dab9d9d2.xml
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="collision_mesh_0_29" file="mesh/blue_cup_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/blue_cup_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/blue_cup_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/blue_cup_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/blue_cup_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/blue_cup_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/blue_cup_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/blue_cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/blue_cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/blue_cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/blue_cup_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/blue_cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/blue_cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/blue_cup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/blue_cup_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/blue_cup_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/blue_cup_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278520d4906d200ef9b9c8c62eecc28b3123f973
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup.obj
@@ -0,0 +1,21660 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a5b30741529a9bb5e5e9287f0c34fd8f562b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision.obj
@@ -0,0 +1,24760 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_0.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea612d8dd9e2030a7e7eb139ae4135c9c2d64646
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_0.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_1.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7282370e4383dcabc93d25a1834a26bbc945ef86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_1.obj
@@ -0,0 +1,895 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_10.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca174ffe8a275bb680f14d2718bd588cb5e2e8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_11.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a2b2c14885d692e82619bfba728b7a23a0f1dce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_12.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ff350e8a9380fdf04432fec94ed2448d4270a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_13.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ac163b7d45a8ee6d5efe20f4a869c992551f1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_14.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6758b9fc1bcd07b7b06ee6014dc92932484e3d2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_15.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b952cf2ca8b00c397c596c22b9aefd16feee7f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_16.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d53046eb69e5bfd550f131dc684ddba050aaaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_17.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959f3487a03e0d85fe9e4a0b614237fcd3b23b24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_17.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_18.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0901c090df8e91b04bf441000a20f8a6a695651e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_18.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_19.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dff6f6cccc0e9c7d9094f23ce013199f4687343
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_2.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebac9c3717736dd007ba2532d6aa81662a7177c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_20.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144af7bc495961e0395f53fc98ebb68fceb5d196
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_20.obj
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_21.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de0f095c79087dd2f9c81cc245ae254a727d2c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_21.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05140913 -0.01443772 -0.01984788
+v 0.05140913 -0.01443772 -0.01985000
+v 0.05107751 -0.01203661 -0.01984787
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+v 0.05064407 -0.00960956 -0.01984787
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+v 0.05037063 -0.01155377 -0.02319696
+v 0.05015246 -0.00948416 -0.02239037
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+v 0.05007101 -0.01443770 -0.02537324
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_22.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150d16adacdcda9b7d8ea709c01d84a68a1fbb4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01838621 -0.04126849 -0.05450461
+v 0.01838621 -0.04202975 -0.04912425
+v 0.01838621 -0.04932926 -0.05450464
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+v -0.00001900 -0.05599591 -0.04490366
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+v 0.01484030 -0.05133472 -0.05450465
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+f 29 33 30
+f 30 33 31
+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_23.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762c5f3f1b720725350b8252c2f83edf8a8d964c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_23.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01540679 -0.04493184 -0.04491202
+v -0.01540679 -0.04511620 -0.04379991
+v -0.00002080 -0.04927652 -0.04491203
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_24.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aafdf5096d42641307ffa4b42e26a44a121dd31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.02214431 -0.04868696 -0.04491297
+v -0.02223975 -0.04861991 -0.04491297
+v -0.02214431 -0.04668211 -0.05451559
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+v -0.02377233 -0.04524724 -0.05451559
+v -0.02214431 -0.03753980 -0.05450710
+v -0.02214431 -0.03870650 -0.04675919
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+v -0.03414546 -0.01470579 -0.05451547
+v -0.03545622 -0.01462872 -0.04491284
+v -0.02731070 -0.04379564 -0.04491295
+v -0.02507637 -0.04387606 -0.05451558
+v -0.03449365 -0.01741463 -0.05451548
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+v -0.03370048 -0.03229314 -0.04491291
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_25.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d05da5b8bfca795ab70a249a574f2c56750d7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_25.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01746278 -0.04346036 -0.04490361
+v 0.01746278 -0.04364341 -0.04385745
+v 0.01746278 -0.05155379 -0.04490364
+v -0.00001909 -0.04927839 -0.04490363
+v 0.01746278 -0.04364904 -0.04382695
+v -0.00001909 -0.04947551 -0.04379882
+v 0.01732586 -0.05164390 -0.04490364
+v 0.01746278 -0.06606512 -0.02780149
+v 0.01745765 -0.06606230 -0.02781087
+v -0.00001909 -0.05599756 -0.04490366
+v 0.01746278 -0.04414750 -0.04152820
+v -0.00001909 -0.05001622 -0.04113884
+v 0.01474140 -0.05294212 -0.04490364
+v 0.01746278 -0.06695781 -0.02669435
+v 0.01670114 -0.06711270 -0.02690780
+v 0.01410641 -0.05320964 -0.04490365
+v 0.00130908 -0.05599193 -0.04490366
+v 0.00130908 -0.06985556 -0.02699460
+v -0.00001909 -0.06985275 -0.02699226
+v 0.01746278 -0.04424606 -0.04109191
+v -0.00001909 -0.05054283 -0.03938665
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+v -0.00001909 -0.07088063 -0.02517202
+v -0.00001909 -0.07036809 -0.02607979
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_26.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4ef3c4a6106f2c3d674ea936b6e9893abf7470
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_26.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.01607584 0.02984318 -0.01984772
+v 0.01607584 0.02978821 -0.02004249
+v 0.01607584 0.02028108 -0.01984776
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+v 0.03862557 0.00028601 -0.01984783
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+v 0.02168792 0.02424482 -0.02682747
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_27.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c71f6216e5368693d0eae9c90980f9fa9006a181
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_28.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac76e9330234ab341ee61a99e952b151892352d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_28.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_29.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70b0249cec16d4dbfc8ae4667395d007d98cbcba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_29.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_3.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ac45368f75879705e8e3253ffe922ef13c635c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_3.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_30.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e09d11392d1e9f8907b56ffb13875b2f89952d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_31.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1d0440ee0a1a28de201aeb90af5fdbf8ecf79f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_31.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_32.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e8f7a7ed29c914160395c82fc044a3c21f798f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_32.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_33.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745df71d9b6430f3543dbaaab2bd993843d170c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_33.obj
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_34.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c3cfd8579157078ec581af4bdf7f7bb399bbb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_34.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02214430 -0.03754242 -0.05450710
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+v -0.02214430 -0.03820195 -0.05451556
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_35.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f32dd1dfc3aa1f35928a138050ca1dad4112ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_35.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.00000615 0.01011971 -0.03968525
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_36.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5104103d81f34711be2e6294a62bfea25cf9ad83
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_36.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_37.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4e76c3fe644f2bd7ef00c6c34e0c9f9dc11753
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_38.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc1d403d16a4705bfeea7d137783516ef813ca5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_38.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00065290 0.01835126 -0.04007340
+v -0.00135235 0.01440252 -0.05471030
+v -0.00135235 0.01834817 -0.04007340
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_39.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ba5ca4a21edd5f1c8566003dc3307ebb2bfce9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_39.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_4.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2f17c3465dc113e9e7977c309786666cfd0fc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_4.obj
@@ -0,0 +1,922 @@
+# https://github.com/mikedh/trimesh
+v -0.00135200 -0.08138400 0.05732780
+v -0.00002080 -0.08137525 0.05732780
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_40.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41416d231a8aa16ec8b0224c4af94d7d2fc0b38f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_41.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef75ed8055b343d2dd60d2a0783f8b6512b86ad4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_42.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27ffedec62062f6c6a96cf5bf4f4bd425323ffe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_42.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_43.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e476f4ef6a116f0f408ec22880fa6961de29796d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_43.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_44.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b893eefc6adcfa0dad2bdda77fb107b4079e02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_44.obj
@@ -0,0 +1,295 @@
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+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_45.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49edfed54a54a09b82876d6b9c1695ef5254591e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_45.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01585161 0.01959360 -0.02254443
+v -0.01585161 0.02856603 -0.02254440
+v -0.00000773 0.02325935 -0.02254441
+v -0.00000773 0.02672235 0.00165999
+v -0.01585161 0.02342236 0.00165998
+v -0.01201006 0.03642469 -0.01452678
+v -0.01105161 0.03642470 -0.01647669
+v -0.01021102 0.03642470 -0.01749310
+v -0.00989619 0.03642471 -0.01780584
+v -0.00853606 0.03642471 -0.01899758
+v -0.00715422 0.03642471 -0.01994766
+v -0.00677425 0.03642471 -0.02019643
+v -0.00606240 0.03518414 -0.02157534
+v -0.00494421 0.03462068 -0.02254437
+v -0.01585161 0.03033051 -0.01562614
+v -0.01281962 0.03642468 -0.01170262
+v -0.00000773 0.03602273 -0.02254437
+v -0.00000773 0.03571620 0.00166002
+v -0.01585161 0.03227616 0.00166001
+v -0.00401057 0.03642472 -0.02143792
+v -0.00401057 0.03510176 -0.02254437
+v -0.01585161 0.03060563 -0.01452443
+v -0.01585161 0.03109164 -0.01188981
+v -0.01585161 0.03119873 -0.01115534
+v -0.01585161 0.03149033 -0.00870315
+v -0.01585161 0.03170780 -0.00619173
+v -0.01290337 0.03642467 -0.00935231
+v -0.01585161 0.03080169 -0.01368098
+v -0.00150899 0.03589587 -0.02254437
+v -0.00000773 0.03642472 -0.02223399
+v -0.00011784 0.03571620 0.00166002
+v -0.00000773 0.03642464 -0.00081823
+v -0.01464812 0.03271111 0.00166001
+v -0.01116947 0.03642466 -0.00456167
+v -0.01129510 0.03642466 -0.00479622
+v -0.01220702 0.03642466 -0.00654237
+v -0.01230162 0.03642467 -0.00691671
+v -0.00167493 0.03642472 -0.02207999
+v -0.00148572 0.03642472 -0.02211316
+v -0.00128721 0.03642472 -0.02212975
+v -0.00135235 0.03571455 0.00166002
+v -0.00135235 0.03642464 -0.00083245
+v -0.01198834 0.03356947 0.00166001
+v -0.00947745 0.03642465 -0.00319223
+v -0.00401057 0.03543941 0.00166002
+v -0.00389115 0.03642464 -0.00096749
+v -0.00401057 0.03642464 -0.00097697
+v -0.00629658 0.03642464 -0.00132525
+v -0.00660986 0.03642465 -0.00137975
+v -0.00907888 0.03435864 0.00166002
+v -0.00681613 0.03642465 -0.00144609
+v -0.00671997 0.03491550 0.00166002
+v -0.00780094 0.03467167 0.00166002
+f 1 2 14
+f 1 14 21
+f 1 21 29
+f 1 29 17
+f 1 17 3
+f 1 3 4
+f 1 4 5
+f 1 5 19
+f 1 19 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 28
+f 1 28 22
+f 1 22 15
+f 1 15 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 15 16
+f 2 16 6
+f 3 17 30
+f 3 30 32
+f 3 32 18
+f 3 18 4
+f 4 18 31
+f 4 31 41
+f 4 41 45
+f 4 45 52
+f 4 52 53
+f 4 53 50
+f 4 50 43
+f 4 43 33
+f 4 33 19
+f 4 19 5
+f 6 16 27
+f 6 27 37
+f 6 37 36
+f 6 36 35
+f 6 35 34
+f 6 34 44
+f 6 44 51
+f 6 51 49
+f 6 49 48
+f 6 48 47
+f 6 47 46
+f 6 46 42
+f 6 42 32
+f 6 32 30
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+f 6 40 39
+f 6 39 38
+f 6 38 20
+f 6 20 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 15 22 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 19
+f 16 19 27
+f 16 22 28
+f 16 28 23
+f 17 29 30
+f 18 32 31
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 27
+f 20 38 21
+f 21 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 31 32 41
+f 32 42 41
+f 33 43 44
+f 33 44 34
+f 41 42 46
+f 41 46 47
+f 41 47 48
+f 41 48 49
+f 41 49 45
+f 43 50 51
+f 43 51 44
+f 45 49 51
+f 45 51 52
+f 50 53 51
+f 51 53 52
+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_46.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127975e48a5cd252f676fa42bdd58e25b51a24aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_46.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01607427 0.01943909 -0.02245113
+v -0.00000615 0.02329390 -0.02245579
+v 0.01607427 0.01943909 -0.02245581
+v 0.01607427 0.02330441 0.00141969
+v -0.00000615 0.02669282 0.00141970
+v -0.00000615 0.03613207 -0.02245575
+v 0.01607427 0.02860972 -0.02245577
+v 0.01607427 0.03203691 0.00141972
+v -0.00000615 0.03567089 0.00141973
+v 0.00001904 0.03613561 -0.02245575
+v -0.00000615 0.03699773 -0.02180136
+v 0.00950135 0.03354748 -0.02245576
+v 0.00920065 0.03748531 -0.01948065
+v 0.01061127 0.03748531 -0.01852012
+v 0.01159367 0.03748531 -0.01782134
+v 0.01211005 0.03748530 -0.01734691
+v 0.01338370 0.03748530 -0.01599842
+v 0.01388120 0.03748530 -0.01545155
+v 0.01435665 0.03748529 -0.01457515
+v 0.01495963 0.03748529 -0.01309345
+v 0.01524931 0.03748528 -0.01186181
+v 0.01607427 0.03146106 -0.01699871
+v 0.01520838 0.03235667 0.00141972
+v 0.01607427 0.03318351 -0.01186183
+v 0.01509030 0.03748528 -0.01043387
+v 0.01495018 0.03748527 -0.00920457
+v 0.01394102 0.03748526 -0.00647721
+v 0.01331443 0.03748526 -0.00532270
+v 0.01316802 0.03748526 -0.00514508
+v 0.01201244 0.03748526 -0.00410976
+v 0.00984299 0.03748525 -0.00285476
+v 0.00865593 0.03748525 -0.00217233
+v 0.00128324 0.03567266 0.00141973
+v 0.00131001 0.03748524 -0.00124218
+v -0.00000615 0.03748524 -0.00125387
+v 0.00103764 0.03624337 -0.02245575
+v -0.00000615 0.03748532 -0.02142276
+v 0.00942106 0.03360401 -0.02245576
+v 0.00792543 0.03748531 -0.02009063
+v 0.00932345 0.03366938 -0.02245576
+v 0.01607427 0.03244683 -0.01451908
+v 0.01607427 0.03238853 -0.01466865
+v 0.01484470 0.03248211 0.00141972
+v 0.00755073 0.03748525 -0.00175400
+v 0.01465420 0.03254747 0.00141972
+v 0.00131001 0.03567266 0.00141973
+v 0.00396908 0.03748524 -0.00133333
+v 0.00131001 0.03626457 -0.02245575
+v 0.00131001 0.03748532 -0.02150222
+v 0.00662816 0.03748532 -0.02063049
+v 0.00662816 0.03517102 -0.02245575
+v 0.00664706 0.03748525 -0.00157638
+v 0.00667067 0.03502077 0.00141973
+v 0.00927780 0.03425581 0.00141973
+v 0.00133677 0.03567089 0.00141973
+v 0.00414226 0.03596424 -0.02245575
+v 0.00418320 0.03748532 -0.02135031
+v 0.00511206 0.03748532 -0.02110959
+v 0.00477830 0.03577345 -0.02245575
+v 0.00396908 0.03542180 0.00141973
+f 1 2 3
+f 1 3 7
+f 1 7 22
+f 1 22 42
+f 1 42 41
+f 1 41 24
+f 1 24 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 10
+f 2 10 36
+f 2 36 48
+f 2 48 56
+f 2 56 59
+f 2 59 51
+f 2 51 40
+f 2 40 38
+f 2 38 12
+f 2 12 7
+f 2 7 3
+f 2 5 9
+f 2 9 35
+f 2 35 37
+f 2 37 11
+f 2 11 6
+f 4 8 23
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+f 4 9 5
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+f 8 32 23
+f 9 33 34
+f 9 34 35
+f 10 11 36
+f 11 37 36
+f 12 38 13
+f 13 39 50
+f 13 50 58
+f 13 58 57
+f 13 57 49
+f 13 49 37
+f 13 37 35
+f 13 35 34
+f 13 34 47
+f 13 47 52
+f 13 52 44
+f 13 44 32
+f 13 32 31
+f 13 31 30
+f 13 30 29
+f 13 29 28
+f 13 28 27
+f 13 27 26
+f 13 26 25
+f 13 25 21
+f 13 21 20
+f 13 20 19
+f 13 19 18
+f 13 18 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 13 38 40
+f 13 40 39
+f 21 24 41
+f 21 41 42
+f 21 42 22
+f 23 32 43
+f 32 44 45
+f 32 45 43
+f 33 46 34
+f 34 46 47
+f 36 37 48
+f 37 49 48
+f 39 40 51
+f 39 51 50
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 46 55 52
+f 46 52 47
+f 48 49 57
+f 48 57 56
+f 50 51 58
+f 51 59 57
+f 51 57 58
+f 52 55 60
+f 52 60 53
+f 56 57 59
+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_47.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a4d8b7606c33fe787d8f8430d784179c9d0abb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_47.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02718399 -0.02751685 -0.05450456
+v 0.02718399 -0.02921689 -0.04912421
+v 0.02718399 -0.04146111 -0.05450461
+v 0.01838621 -0.04126840 -0.05450461
+v 0.01838621 -0.04202780 -0.04912425
+v 0.01838621 -0.04245454 -0.04646274
+v 0.01838621 -0.04272986 -0.04490361
+v 0.02718399 -0.02977669 -0.04740249
+v 0.02718399 -0.04387008 -0.04490361
+v 0.02636846 -0.04251874 -0.05450462
+v 0.01838621 -0.04933028 -0.05450464
+v 0.02718055 -0.03079304 -0.04490356
+v 0.02718399 -0.03077927 -0.04491202
+v 0.02718399 -0.03013459 -0.04635086
+v 0.01838621 -0.05095463 -0.04490364
+v 0.02671207 -0.04437710 -0.04490361
+v 0.02633918 -0.04255087 -0.05450462
+v 0.02718399 -0.03079304 -0.04490356
+v 0.01840515 -0.04931881 -0.05450464
+v 0.01940153 -0.05039943 -0.04490364
+v 0.02372981 -0.04526263 -0.05450463
+v 0.02503880 -0.04392740 -0.05450462
+v 0.02479853 -0.04632031 -0.04490362
+v 0.01939034 -0.04869937 -0.05450464
+v 0.01997508 -0.05003006 -0.04490363
+v 0.01943340 -0.04867184 -0.05450464
+v 0.02370053 -0.04528787 -0.05450463
+v 0.02406395 -0.04696039 -0.04490362
+v 0.02213319 -0.04856176 -0.04490363
+v 0.02073378 -0.04776104 -0.05450464
+v 0.02240101 -0.04640515 -0.05450463
+v 0.02329922 -0.04760048 -0.04490362
+v 0.02076306 -0.04774039 -0.05450464
+f 1 2 8
+f 1 8 14
+f 1 14 13
+f 1 13 18
+f 1 18 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 22
+f 1 22 21
+f 1 21 27
+f 1 27 31
+f 1 31 33
+f 1 33 30
+f 1 30 26
+f 1 26 24
+f 1 24 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
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+f 7 14 8
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+f 7 29 32
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+f 7 28 23
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+f 7 16 9
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+f 9 16 17
+f 9 17 10
+f 11 19 20
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+f 12 18 13
+f 16 21 22
+f 16 22 17
+f 16 23 21
+f 19 24 20
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+f 20 26 25
+f 21 23 28
+f 21 28 27
+f 25 26 29
+f 26 30 29
+f 27 28 31
+f 28 32 31
+f 29 30 33
+f 29 33 31
+f 29 31 32
+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_48.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e4fb980e9750c7720860c1e15b7a21959f7332
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_48.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01290457 0.03642467 -0.00935347
+v -0.01230114 0.03642467 -0.00691735
+v -0.01197039 0.04673406 -0.00654252
+v -0.01194514 0.04757217 -0.00654252
+v -0.01281873 0.03642468 -0.01170228
+v -0.01220772 0.03642466 -0.00654256
+v -0.01122304 0.04757217 -0.00412983
+v -0.01150329 0.04757218 -0.00922779
+v -0.01167498 0.04673407 -0.00920436
+v -0.01201078 0.03642469 -0.01452809
+v -0.01129499 0.03642466 -0.00479639
+v -0.01116875 0.03642466 -0.00456215
+v -0.01090238 0.04757216 -0.00360598
+v -0.01081654 0.04757219 -0.01076527
+v -0.01105135 0.03642470 -0.01647869
+v -0.00947711 0.03642465 -0.00319077
+v -0.01031915 0.04757216 -0.00286705
+v -0.01026107 0.04757219 -0.01137217
+v -0.01021058 0.03642470 -0.01749445
+v -0.00681341 0.03642465 -0.00144673
+v -0.00904663 0.04757216 -0.00198119
+v -0.00957937 0.04757216 -0.00234320
+v -0.00953013 0.04757219 -0.01207064
+v -0.00989750 0.03642471 -0.01780535
+v -0.00660890 0.03642465 -0.00138072
+v -0.00659502 0.04757215 -0.00099098
+v -0.00815031 0.04757216 -0.00158298
+v -0.00815284 0.04757220 -0.01331638
+v -0.00853661 0.03642471 -0.01899786
+v -0.00629709 0.03642464 -0.00132322
+v -0.00401085 0.03642464 -0.00097612
+v -0.00401085 0.04757215 -0.00060129
+v -0.00749512 0.04757220 -0.01374014
+v -0.00677302 0.03642471 -0.02019462
+v -0.00715300 0.03642471 -0.01994973
+v -0.00389092 0.03642464 -0.00096760
+v -0.00135094 0.03642464 -0.00083131
+v -0.00135094 0.04757215 -0.00048204
+v -0.00648771 0.04757220 -0.01433001
+v -0.00401085 0.03642472 -0.02143823
+v -0.00401085 0.04757221 -0.01551400
+v -0.00000773 0.03642464 -0.00081641
+v -0.00086491 0.04757215 -0.00048417
+v -0.00167412 0.03642472 -0.02207921
+v -0.00371923 0.04757221 -0.01562260
+v -0.00214247 0.04757221 -0.01613580
+v -0.00000773 0.04757215 -0.00048843
+v -0.00039024 0.04757215 -0.00048630
+v -0.00000773 0.03642472 -0.02223253
+v -0.00148475 0.03642472 -0.02211328
+v -0.00124742 0.04757221 -0.01632320
+v -0.00000773 0.04757221 -0.01645948
+v -0.00128655 0.03642472 -0.02213031
+v -0.00039908 0.04757221 -0.01641689
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 29
+f 1 29 35
+f 1 35 34
+f 1 34 40
+f 1 40 44
+f 1 44 50
+f 1 50 53
+f 1 53 49
+f 1 49 42
+f 1 42 37
+f 1 37 36
+f 1 36 31
+f 1 31 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 13
+f 4 13 17
+f 4 17 22
+f 4 22 21
+f 4 21 27
+f 4 27 26
+f 4 26 32
+f 4 32 38
+f 4 38 43
+f 4 43 48
+f 4 48 47
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+f 4 52 54
+f 4 54 51
+f 4 51 46
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+f 4 39 33
+f 4 33 28
+f 4 28 23
+f 4 23 18
+f 4 18 14
+f 4 14 8
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+f 4 9 5
+f 5 9 10
+f 6 11 7
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+f 7 12 13
+f 8 14 10
+f 8 10 9
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 29
+f 25 30 26
+f 26 31 32
+f 26 30 31
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 31 36 32
+f 32 37 38
+f 32 36 37
+f 33 39 34
+f 34 39 41
+f 34 41 40
+f 37 42 38
+f 38 42 43
+f 40 41 45
+f 40 45 46
+f 40 46 44
+f 42 47 48
+f 42 48 43
+f 42 49 52
+f 42 52 47
+f 44 46 51
+f 44 51 50
+f 49 53 52
+f 50 51 54
+f 50 54 52
+f 50 52 53
+
diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_49.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e23307ad58215642b5aaeca628db5e88242777
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_49.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.00000615 0.03567153 0.00141973
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_5.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075f34fa083125432413ddbe89a3e10d97c40c6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_5.obj
@@ -0,0 +1,1447 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_6.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b32a23dd686d6c4412f264d7d0bb07101e7df1ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_7.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f702155f40c82f8d4365ee725f74f48418b003
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_8.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccda4f6918186fb5671e22d9ff417d909146df8d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_8.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_9.obj b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b572b19bcab1d01b094322cdd3b94d81d09721e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/mjcf/mesh/blue_cup_collision_9.obj
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