diff --git a/.gitattributes b/.gitattributes
index e7f2cfe03b7f243c2867275c71884523d623afa4..fb418c8a428757648d7d5193770e5d3873d0818e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4695,3 +4695,6 @@ dataset/kitchen_supplies/ware/4bcd6f9b5d36505cb79a97c1c5ba31ef/mesh/water_bottle
 dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/4b2f84fb58c0593896621e76e1a84edf.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.urdf b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d48023acfef32760506412367a6a4b2ee8fa1b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_cup">
+   <link name="red_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_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/red_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>red cup</category>
+         <description>simple red cylindrical cup with slightly flared top</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>20260120015330</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.929926872253418</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/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.usd b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f271e06d0a3cb7d704338e3357cedf91ea59a89e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/4a459efc2bb355d8ad05788090161f0f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:986a2f1604ceea6433347a47ec308148df09c72199795398ddacb1ab6d29b07e
+size 1081759
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/material.mtl b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/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/4a459efc2bb355d8ad05788090161f0f/mesh/material_0.png b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aff548cf049953cc68f45841727457594a6af1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0487a12d0a81ae96318a4a07996285f581d5c643faca24c7cfcb605ac80355e
+size 1470258
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..364b04eeadcf236154377072f15cdc276fea0c79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1e76e57da245b22d38608f09cff3ae6133856ed485f3cf44161c7980917e48f
+size 2205680
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465807e29740c69cd9040b39dbe16de0b296f87a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup.obj
@@ -0,0 +1,67266 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426e57983a32765abc88ee067b808b01c8b87b70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mesh/red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/4a459efc2bb355d8ad05788090161f0f.xml b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/4a459efc2bb355d8ad05788090161f0f.xml
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index 0000000000000000000000000000000000000000..489fe1767ca43fb22d1f7632b8539e7f03868362
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aff548cf049953cc68f45841727457594a6af1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0487a12d0a81ae96318a4a07996285f581d5c643faca24c7cfcb605ac80355e
+size 1470258
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d68b17348474b19edfd2c37e590a81d7034b98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup.obj
@@ -0,0 +1,67266 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e208d4bfee8fe1ef702914ee41a919dd7822e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,15052 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8bf2b8c575ef1503fe70805d587c4e6a15abb7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_0.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2484a375b68b7494d7fc429052832f68145b02c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_1.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295cfd514b4c679f9324f65f241a66cb3c59a054
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72cba5b0eb12ff4ab427a33332a0d459388ec40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_11.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c3078da13fe30d6c831d1c6b62bdbe554dc53d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_12.obj
@@ -0,0 +1,148 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca5bdf9ec290d42390df59cc8083716b983e5e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74456208e18731a54408543960ac8a5e6e85d360
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00076100 -0.04445778 0.01415276
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d560dc42f505dc560d4b56de231183606990c499
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af3db158ca87a6aad0c786942a81b63fa15e906
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_16.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb370ebe90c53627fe29739681e3c815496320e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_17.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac0c1653fb559f673c544543d40645eacd919eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_18.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c9c17a205740efe6ebcb4db411717fd778570c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_19.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f4ef8cbb3a8d5d6fe24d365301c01aa01d1354a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca56f78a30a81e6418407ea95e7e33e0de9764ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_20.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7221baa1d2a628fb0c64a7898a6f10d49f601e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_21.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561b2cd454945b40310ab2de45ffe3358459835c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0231b143fc2f4604aac35e6c7a2d8a53c92909d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_23.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a874b746a1b3c937e7a0a8f61732472cc602df91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60658f330c5399ef635712e4425feaaa44a40ac4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_25.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef173d86c01ac48a886d90b2c62e893e5a0edf40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_26.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b78db26bce9e169038505e96e855c190b91e10b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_27.obj
@@ -0,0 +1,334 @@
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b31ff5b1df34e52a4f2857ee61bdb17b0f40d70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02071340 0.00047897 -0.05410107
+v 0.00076100 0.00047897 -0.05417422
+v 0.02071340 0.00047898 -0.05801737
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+v 0.00076100 0.00304369 -0.05801942
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+v 0.00076100 0.00717044 -0.05801940
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8591444174cef428f8149b0f9af710056ed8395f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_29.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.01867905 -0.04002601 0.01415277
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632183fc37e351dba95c07b0a18c0bc812b0ce45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_3.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.00075738 0.00041119 -0.05417470
+v -0.03190442 0.00041118 -0.05275415
+v 0.00075738 0.00041120 -0.05801891
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4780d5973d140b6048505ef269567057b1d1435a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_30.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.01055927 -0.03941631 0.01415278
+v -0.01055927 -0.04314621 0.01415276
+v -0.01055927 -0.03949782 0.01496725
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28840d1fd015cd5cd6df4344384a2c75b7ac5ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05dfd28a690435571e1fb97c33a8fb21c011f22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a057534b06bc44cf3fbc2b38ef6c7cb64a87b2df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.04846161 0.00001904 0.05274435
+v 0.04846404 0.00098018 0.05274435
+v 0.04464829 0.00001904 0.05274435
+v 0.04459833 0.00001918 0.01415292
+v 0.04460320 0.00098032 0.01415292
+v 0.04846404 0.00100311 0.05274435
+v 0.04024758 0.01953990 0.05274442
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+v 0.04073384 0.00001918 0.01415292
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+v 0.04839336 0.00304386 0.05274436
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+v 0.04440577 0.00001904 0.05065517
+v 0.04442162 0.01953990 0.05274442
+v 0.03751647 0.01953999 0.02790084
+v 0.04085814 0.00001917 0.01548275
+v 0.03601625 0.01954004 0.01416055
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+v 0.04433875 0.00510767 0.01415294
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+v 0.04839214 0.00306487 0.05274436
+v 0.03744091 0.01953999 0.02720948
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+v 0.04520890 0.01767112 0.05274441
+v 0.04515893 0.01729851 0.05078745
+v 0.04419981 0.01953990 0.05064768
+v 0.04095076 0.00001917 0.01644612
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+v 0.04424003 0.00584525 0.01415294
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+v 0.04405723 0.00716944 0.01415295
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+v 0.04354172 0.01863803 0.04086287
+v 0.04362215 0.01883101 0.04238160
+v 0.04373184 0.01909088 0.04444812
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+v 0.04794366 0.00719223 0.05274438
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+v 0.04662137 0.01337753 0.05274440
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+v 0.04575244 0.01497880 0.04858870
+v 0.04262769 0.01335856 0.01415297
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+v 0.04318220 0.01126813 0.01415296
+v 0.04711738 0.01131767 0.05274439
+v 0.04297990 0.01203246 0.01415296
+f 1 2 6
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe60ad4544f6d103cf8c8063618c4b65d8550bd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.04439715 0.00001904 0.05269531
+v -0.04074415 0.01749864 0.05269537
+v -0.04810488 0.00001904 0.05269531
+v -0.04345474 0.00001906 0.04571573
+v -0.04495759 0.01749864 0.05269537
+v -0.04192572 0.00001910 0.03410321
+v -0.04146761 0.00001912 0.03060965
+v -0.04133553 0.00001912 0.02957592
+v -0.03635222 0.01749877 0.01755223
+v -0.04811083 0.00095154 0.05269531
+v -0.04357493 0.00060777 0.01415292
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+v -0.04495640 0.01749864 0.05268028
+v -0.04496354 0.01748495 0.05269537
+v -0.04124034 0.00001912 0.02879496
+v -0.04113206 0.00001913 0.02790082
+v -0.03610710 0.01749877 0.01549985
+v -0.04811083 0.00098062 0.05269531
+v -0.04357730 0.00098076 0.01415292
+v -0.03961612 0.00001918 0.01415292
+v -0.04472080 0.01749864 0.05063923
+v -0.04544783 0.01617091 0.05269537
+v -0.04041692 0.00001915 0.02169087
+v -0.03595599 0.01749878 0.01415298
+v -0.04810964 0.00100971 0.05269531
+v -0.04352852 0.00261648 0.01415293
+v -0.04008851 0.00001916 0.01865758
+v -0.04447925 0.01749865 0.04858685
+v -0.04545735 0.01614353 0.05269537
+v -0.04423889 0.01748497 0.04651939
+v -0.04109993 0.01538912 0.01415298
+v -0.04031102 0.00001915 0.02072882
+v -0.04032054 0.01749878 0.01415298
+v -0.04019085 0.00001916 0.01962341
+v -0.04802159 0.00304238 0.05269532
+v -0.04352495 0.00269861 0.01415293
+v -0.04423294 0.01749866 0.04651939
+v -0.04533836 0.01577566 0.05065809
+v -0.04579766 0.01511350 0.05269537
+v -0.04138075 0.01457126 0.01415297
+v -0.04143667 0.01444807 0.01426993
+v -0.04421390 0.01749866 0.04636093
+v -0.04032649 0.01748509 0.01415298
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+v -0.04678171 0.01129455 0.05269535
+v -0.04247665 0.01055725 0.01415296
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd64b9a28faaee73d72fe70f2fa4ea7c631bd91a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.04460087 0.00047872 0.01415292
+v 0.04460223 0.00098060 0.01415292
+v 0.04073615 0.00047872 0.01415292
+v 0.03877871 0.00047896 -0.05163724
+v 0.03879091 0.00098084 -0.05163724
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+v 0.04409253 0.00510746 0.01133870
+v 0.04433924 0.00510745 0.01415294
+v 0.03862011 0.00420494 -0.05163722
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+v 0.03093268 0.01555691 -0.05163718
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+v 0.03743127 0.01077591 -0.05163720
+v 0.04318295 0.01126822 0.01415296
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158a4100f33eea1b421ad13ad86d6f5df74f37e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02220198 -0.04346669 0.05308549
+v 0.02280086 -0.04320761 0.05308549
+v 0.02220198 -0.03913569 0.05308551
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+v 0.02220198 -0.04308927 0.04960609
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+v 0.03370020 -0.02274180 0.01482738
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+v 0.02409996 -0.03743416 0.01415278
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2467ff65b5419126f8cc4f017bb30094fba24f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4771c7a4a76c29ea80ae850dffa7a01d3887e98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+v -0.00103426 0.03828208 -0.05901007
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d015a98e32dc61f3e713f74671f77276cd01be0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_39.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.02652304 -0.03573375 0.01414623
+v 0.02713939 -0.03529231 0.01414623
+v 0.02652304 -0.03074209 0.01414625
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+v 0.02652304 -0.02842433 -0.04245597
+v 0.03818746 -0.01405656 0.01414631
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714615c44fd308246838fd1010b1b5d1f32e1e9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68eb107e18152c537bf7ae05d770af83a3e1811f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_40.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..707b21df8899331e6ef1b01ef60d0b410ea8926e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50935b0694e1ab101ec929ac9de944149b5d4eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+v 0.00076100 0.03408362 -0.05274747
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_43.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948d4acd9ae6201705e07821b34274c45229a4ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_43.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_44.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19fe3aa7c982d59d7d12657545872fa087ac338
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_44.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_45.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf41dc72a9d9c573f22ea895c6519554f083e5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_45.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_46.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b81c8e0deb0cd3fac6464a1b1063ba6227734a11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_46.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_47.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f855b36f76090d0a4e8511823dc7fdc3e0240552
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_47.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_48.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93afc8d2887a40be553397a25420b1880f0e1550
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_48.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_49.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bfaf94f70def9c59e53c50c9e95f181e474f3c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_49.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e442ad4f4a16e797b55d844857e3f80293e2f626
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_50.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eecabe94bea0402b5298c4ae92cd9d8eb50ed6ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_50.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_51.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522024a56ba857e745c39fae9ef368a293f86b58
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_51.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_52.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6256339053d236f7a14254d49da66e477e8d7922
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_52.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_53.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0bddaa389cbabb3222068f188cc7c5273989774
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_53.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_54.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e16d1043960572b57cf1b3304c37ec4801a16b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_54.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_55.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8039d317690e92e4acf0bf78b9ae1893ac429b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_55.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_56.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191ac3ecb08822c161d03875c46ef71c6e5bd558
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_56.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_57.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778326411c39760edf22128137650845ef4f1e60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_57.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00103833 0.03885539 -0.05163783
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_58.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3eb1fdc49627f33b70e5d0833ed57b73b688d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_58.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00103833 0.03828694 -0.05919702
+v 0.00122583 0.03827629 -0.05919702
+v 0.00310857 0.03802601 -0.06107914
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e176b05a914f9bd6c2d4d72ebb69103899c6065a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_6.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00102566 0.04158335 0.01415307
+v 0.00102566 0.04154639 0.01415307
+v 0.00102566 0.04523218 0.01415686
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+
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79623bc90591ab3cb4cd6b963fa10f3769e2925
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00753968 -0.04016503 0.01415277
+v 0.02220085 -0.03404534 0.01415279
+v 0.00753968 -0.04387959 0.01415276
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+v 0.00755977 -0.04850312 0.05308547
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3350b1862785156f61c7db581787c155bc158107
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eedfee16945bd272156660709d6d11e3586f514
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/mjcf/mesh/red_cup_collision_9.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/textures/material_0.png b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aff548cf049953cc68f45841727457594a6af1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1470258
diff --git a/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/video.mp4 b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddd894d0aa337dfae68e9cea21f81186b229b522
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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