diff --git a/.gitattributes b/.gitattributes
index b383a903dc4baa0b602baa7d7f124b837d70c30b..33b4871e7d770916ed09d4c363025528b5bcca9b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4737,3 +4737,4 @@ dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/mesh/bottle.glb f
 dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.urdf b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e4bea3ba72b4f96fbbb6bfc7e41cb7fba3de8e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.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="0.4000" />
+         <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>0.136290</scale>
+         <version>v0.1.5</version>
+         <category>cup</category>
+         <description>simple red ceramic cup with rounded handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.11</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20251009002637</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.356273174285889</ImageAestheticChecker>
+         <overall>NO</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/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.usd b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.usd
new file mode 100644
index 0000000000000000000000000000000000000000..775d0e528013f87f17677f5c93b853950bc6ffcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea1c2f746bbed358da61f7ccbf6990bbf5eb82823c63802ca412b2a3cf3631e
+size 353175
diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/material.mtl b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/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/6fe47c398de553c78aa8d188e7a34c80/mesh/material_0.png b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc3738e4567531feabbacc42c3f8c20be7ed784b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e9eb850766bc829ae1b8b5035d2a076eb8e5f592cabe6449d4121d7a4a6aa6
+size 1031056
diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ac48e2854aa85f41b604ab1e3ca9d6a438fee277
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e64f28882029c09982bd21de5991d6e63d74b525511fe5732eaeff3f5ce095d
+size 1270188
diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2cfba64d132ef6ce4e8cc6119c4ffb0e8578c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup.obj
@@ -0,0 +1,21794 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54274effa64d95015419c9aff79cf635777ace55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup_collision.obj
@@ -0,0 +1,35456 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup_gs.ply b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e4769280530ecd676fd69652260365f339245290
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+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mesh/red_cup_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b05ef2aaadab135e9909eb2274066dc2a80fa670fb365061f6dc504748f589e0
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/6fe47c398de553c78aa8d188e7a34c80.xml b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/6fe47c398de553c78aa8d188e7a34c80.xml
new file mode 100644
index 0000000000000000000000000000000000000000..820c49bff291474b5247a6e03c98edb56f3cac45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/6fe47c398de553c78aa8d188e7a34c80.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_4" file="mesh/red_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_7" file="mesh/red_cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
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+      <geom type="mesh" mesh="collision_mesh_0_38" 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/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc3738e4567531feabbacc42c3f8c20be7ed784b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e9eb850766bc829ae1b8b5035d2a076eb8e5f592cabe6449d4121d7a4a6aa6
+size 1031056
diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d4fc89acb9b210b79ec91ca45133dd2661e45a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup.obj
@@ -0,0 +1,21794 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc9137cd73f6ca122f3cc14266a5890ba949ab2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,35456 @@
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4218c22430d1cb3731ed95ab7e4335832bf3344f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48ae452912998a10d98cd2ea6c7f658e6185c70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2102e50b5c7baf9e66ee18529b76e3bbc6d9074b
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a32e92cf6b52dcf4930d55b046dc6f23b312df3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_11.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92673573c885b0850f9d3cdd9800c49b55543db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_12.obj
@@ -0,0 +1,1393 @@
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfb213c442e0e8cdf6aa44fb5d508db34cd72e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3c815f369f3539e2feca498ab5ea605f28e7bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e86139e4d74c0da3944ba706785307ea7181f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436beefd860713f27969926b47d0b2960b2a4516
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7745cdcb3928b719c6e6847ca26a51d3478885
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368ab9d00755ce512de2f3531cc5e6d3e2eed297
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58dc68fccefd81e2022d9098275c991a61fc7242
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea81635349c1d4a3702881649bf7a596bcecaa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f559cb87c25d15721153d385caf0231171e9b9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf7bad5f76f72ad29fbf9350ec6074faf3cd8ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c435e935b1a6bc3be4ffbb5e83bd4dc6d698f13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ffeafef6596c263b649b258d973ffd7aa76ca6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af439201b89b5b083107be93ee14185a90dfe22e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,880 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790dfd8073d19dd3e3d7953bccc3bc776caa43f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f75497b7b239220d901c429a3dd204cc6be53dfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf23f55c69e76e0216f52e5f8d2400033cf318c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ba15e2a3fa1030dc5b8ddaa80d974d69a69eea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f9395d02389e32a15d51283cef02d80a4ca034
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e941e79776dee235e5f0287711ff19f8ca77e66a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e96733f02b19a2a2fd2c3a4aca866c170d6607f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd607e816537685becb9ec312b702dc74116fa44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e53a28d450d93ec1773d09d8b237ecc4ada2c3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1911501a722f1bc96fb0c8e34116cf3752b6608
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a3f65538dd216874f1c8025ecfd36c0092537c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024a9440319e87952135e27f191d79d60741e110
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,2041 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c801982f786ea00d29e539ad15d98bbf499935f9
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c196c3aece651e3329907128de9ed5b1575360c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a4182fb9f50c0f7e47c00b96d90c7e593edaf79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87bbf20e3ebf6c47ec080f7ea4961cdbb6c93b0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b532521bfcd62a72e8da0205fcbc671857355233
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,1096 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c400ff87722362020dcd50a137ae89d4d974b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43318da28fc9acd510961f723e3ae6192917a3a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697d2b6f9428859501d250c3b47e22ea84e4672f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea2a1f9aa715874099360e3d084493f659da2fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/mjcf/mesh/red_cup_collision_9.obj
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