diff --git a/.gitattributes b/.gitattributes
index 5962841c249b246bdb849fb725eb2e9fb9b1621a..caea72854cf367165f5dbf0f8777e2b110d07efa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4651,3 +4651,6 @@ dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_gs.p
 dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/17a6647c041c5a2f995a0d99dbd1fec2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.urdf b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c02ae1c3248570d8b92172530a034c61d76a4e05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.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>0.60</mu1>
+            <mu2>0.50</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>plain yellow cylindrical cup with slightly flared 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>20260120140504</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.348509788513184</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/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e9fc553adcd2923f6404209a5b609fe0f52a12e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17ee5dad1e3736a80a0b86e04fcb530c89ca41ea47ef7994f9a6e2da34844a6
+size 1149434
diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/material.mtl b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/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/19578fe7d18650438d1cc8eb17075080/mesh/material_0.png b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee555d6235bc0331f14e42fbba0906938db8e55c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4d864768907e7a685145f21eb666b8c747d4121d33c7fdbc56903812357a74
+size 1061500
diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5ab76152264bb5c9ec09fe63ee34236f2fbb9a98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b0c4d7ef43ff6db42d9989363d85ced4f46ed394141815c6c197b379981b29
+size 1834664
diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5358206d40728bf826283010cc38a3e580453c3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.obj
@@ -0,0 +1,70616 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bd2afcbbb965677296618243d57be0202ad739e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_collision.obj
@@ -0,0 +1,16555 @@
+# https://github.com/mikedh/trimesh
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index 0000000000000000000000000000000000000000..7f442a685f5df458dceba2166accbd251df20cd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup.obj
@@ -0,0 +1,70616 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93d701a21f65c740052e198e09209e43095d32d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,16555 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098988463f08064770ae6333adabc876b06e29a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_0.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ac55b9b5ec678e386e50c3abfed22a644d8d7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_1.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a71f8f754338a23b194c571d33b9fbe318ff973
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_10.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5edb679075411490a3b8270c136ecb717f3597
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_11.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac86b6a573cb3cd05b7b24a1ef931d41d1a7e9e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e40a4e777d037e244c75132c4db5e05c677821f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_13.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63805d038e4c7362c1d561618cd0cac59b79e295
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da27b302b1be3d78dde6550803e5414613e522f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f145c24503fca7b1737d0669de37cad8635df79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_16.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9722fbeaa9dd10dc0d28eeddb26724b03b7c53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_17.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eabe5dd8cea5346d793bb67cd93365b243936cd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f24d69a349c65e10be2df86e31daa4b51efa403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_19.obj
@@ -0,0 +1,259 @@
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+
diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e062d5b74622eb79f0a4857996947dc8d5ca33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_2.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdabde31bc5979c1bab737b77682336e4d0fc902
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_20.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb4d3d485d77574bd40d60aac67484e8dca9dec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_21.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce98c2900371c431742c3805913645970bada2f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_22.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d7ebffcf3668df07116914582c4fa635a10434
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7dbb8b8730351e39a14be07a0ff51d02e5f9716
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d934b887c41597dc7a0e0b0dcb030a9a0611888c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97365526132bc4bdaeda0cf953becdab54d7b808
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_26.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66974c6cc606b0168314204619dfbd1d7727460
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca115995a469fe5aa8d11ae0cb3816948ca1e57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_28.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304e525d68d4dce0d8b05c22549bafcd6a96ea7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6a0be06434890da076bc92a1c49bb7fdc112556
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_3.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a9174e64681c4b061708d419cdc9560dd93dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_30.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44ee4f5213c4123858c3a004bf7c188e5ffcd13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f2abf113b274a983f3040957400d2343d04fef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_32.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059a287c0dbdd1f1c83745ad1bac78f306f26ba9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_33.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee95fd0ea106039fb8ecf637888c65c0d0860f4a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682262970404826ba422285dbcb419f7c595ea20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7987682584aa344ed261c13b49b2739dc7c26e64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_36.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ed1a3858d7fb46e3d3133528b20c7fa32c566f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_37.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3486a41de6f31e134f01abaf33df687872c7bc2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_38.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac8d4449f52853e972f3ae70ef7065a1c62b3ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c39dbce8caebd21e2dccbbbc3be005c359619f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_4.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a42b758274f386e1108b6a4845475d287875d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_40.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9640fc908fb94bc87168265225681142aced1fda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_41.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2dc81030899e17a3800dd8e2982fb15e0e0db07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_42.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27858469ce45c0c54fb4e71a39beb16ae98ba8d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_43.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764dc44e47872384de63e710492b860da9243556
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_44.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a5220bf8baf5650b3afe2b49eae187f0406741
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae57cc6582db35bb64c9c0c26fdc9a99a55102f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b69469a386d6c3766595b3786c8218b6e8358b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_47.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_48.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659e2f48d563aed50fac9540ded7bad47d989017
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_48.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_49.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f9e560260814e17bcd853cfcff651443a55e31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_49.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.04136624 -0.03010171 0.05478079
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6995146192a815f4c7b058ec552f02f6a2aec26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_50.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ffcd0056b0f9631fc3b6ef74b5d031c2de37a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_50.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_51.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7d66f78c9d3a6db560ed40e56078c0b4b0df7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_51.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_52.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76e0d042a9eea19ef31c733b9c93df8696e681b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_52.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff95fe975d89be85cd33cc8e1ff0923d0297b3d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_6.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc1986472420b5f0e95b5453a650f4796f026bc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_7.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d08f5bf20e6183e30074270b422c2a8fcb88aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2bb243a783e2317bc4f058d58724409e2cbd12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_9.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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