diff --git a/.gitattributes b/.gitattributes
index cd0019e930cc26d75ffa96c44c9d320ff49faadb..758fb617a7a23c88072ea3f1e0fa48ded9706315 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4710,3 +4710,6 @@ dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.g
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.urdf b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d12898c9b4fea15366901edffd8867e0f7a6724
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.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>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>cylindrical red cup with black rim and smooth surface</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120013911</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.549077033996582</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.usd b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c6949622708ecb1d9c65215226971543e61f9389
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8b8ec4c081aca80b1c9a4446fd3f9d0379efde3c9db03f6bc16ad9bc030ff1
+size 735388
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/material.mtl b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/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/5f00883830bd52d49ec6accbcbd5e217/mesh/material_0.png b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6490ce24ec2d53ffd412ac0617010e741296252d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5806f4054d755762d315221840cdac62c98f72ea523d2faf1a35f76ff75c8d79
+size 1518130
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aceb7ecc43e1570ca75027fa227e18547806126c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f4a7091bd575be61241260ed56c5e7d0fe30f73c9b4fcd9668f11c0594936f
+size 2015824
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a514288449e23aaf796a948015454cb84e360ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.obj
@@ -0,0 +1,45470 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8bc5e93caa6f9b10dd43e5d1f2a1e6abffb72f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_collision.obj
@@ -0,0 +1,12449 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/5f00883830bd52d49ec6accbcbd5e217.xml b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/5f00883830bd52d49ec6accbcbd5e217.xml
new file mode 100644
index 0000000000000000000000000000000000000000..697a7ebb5adaa9b44cb82d208eb4b1952351685a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/5f00883830bd52d49ec6accbcbd5e217.xml
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+    <mesh name="collision_mesh_0_26" file="mesh/red_cup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/red_cup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/red_cup_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_36" file="mesh/red_cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/red_cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/red_cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/red_cup_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_47" 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/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6490ce24ec2d53ffd412ac0617010e741296252d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5806f4054d755762d315221840cdac62c98f72ea523d2faf1a35f76ff75c8d79
+size 1518130
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..776157d233a741efcf2680328d65d59be81f00ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup.obj
@@ -0,0 +1,45470 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68eec2a1b879f17922971482af3faca61318dac6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,12449 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d8b7c7b03c56d2cf38bd8b44fcec6afe5f43ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11cd8d070ea9867d4c37c818ad5cd782be7c44e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dc427c1c6a3aa6a86c08ecd7f175421d678585
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_10.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b288c07afb3730f620824f98fa241939528600
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_11.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbf0d31e3c966837b8397b21c41d08b9b16b728
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_12.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276c2b0d4af1b7ebe3fa939216a754f6a42efbe2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_13.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+f 1 30 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 9 15
+f 8 15 26
+f 8 26 40
+f 8 40 37
+f 8 37 36
+f 8 36 24
+f 8 24 14
+f 9 16 27
+f 9 27 41
+f 9 41 46
+f 9 46 45
+f 9 45 43
+f 9 43 47
+f 9 47 39
+f 9 39 26
+f 9 26 15
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 24 25
+f 14 25 23
+f 16 28 29
+f 16 29 27
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 18 20 19
+f 18 30 31
+f 20 33 34
+f 20 34 21
+f 21 34 29
+f 21 29 28
+f 21 28 22
+f 23 25 31
+f 23 31 35
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 31
+f 26 39 38
+f 26 38 40
+f 27 29 41
+f 29 34 41
+f 30 42 31
+f 31 42 35
+f 31 38 32
+f 32 38 43
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 41
+f 37 40 38
+f 38 39 47
+f 38 47 43
+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92aec90c265ac9dcc90c9daea4405fa503e10626
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.03569068 -0.00998868 0.08774486
+v -0.03569068 -0.01283502 0.08768126
+v -0.03283844 -0.01686936 0.08765459
+v -0.03569068 -0.00884857 0.08773871
+v -0.03811735 -0.00884857 0.08720751
+v -0.03767028 -0.01283502 0.08698598
+v -0.03590992 -0.01582113 0.08725875
+v -0.03564340 -0.01686936 0.08721979
+v -0.03800558 -0.00998868 0.08717469
+v -0.03283844 -0.01568136 0.08759511
+v -0.03031290 -0.01686936 0.08693059
+v -0.03308347 -0.00884857 0.08705163
+v -0.03868909 -0.00884857 0.08660247
+v -0.03735646 -0.01496526 0.08674191
+v -0.03953595 -0.00884856 0.08518934
+v -0.03700611 -0.01686308 0.08624762
+v -0.03700396 -0.01686936 0.08624351
+v -0.02717049 -0.01686935 0.08567334
+v -0.02423442 -0.01686935 0.08449197
+v -0.02252135 -0.01686935 0.08375361
+v -0.02998834 -0.00884856 0.08568362
+v -0.03863965 -0.01283501 0.08507856
+v -0.03943708 -0.00979708 0.08487963
+v -0.03993573 -0.00884856 0.08391567
+v -0.03767028 -0.01582112 0.08520366
+v -0.03743814 -0.01686935 0.08466425
+v -0.03700826 -0.01686936 0.08622916
+v -0.02237305 -0.01686935 0.08365927
+v -0.02591095 -0.00884856 0.08360802
+v -0.02709956 -0.00884856 0.08429100
+v -0.03906523 -0.01283500 0.08219487
+v -0.04108996 -0.00884851 0.07066423
+v -0.04002816 -0.01442264 0.07222296
+v -0.03759934 -0.01686935 0.08356492
+v -0.02111780 -0.01686934 0.08266044
+v -0.02581852 -0.00884856 0.08354854
+v -0.04034627 -0.00884850 0.06679196
+v -0.04089866 -0.00998862 0.07066422
+v -0.04002816 -0.01442263 0.07184353
+v -0.03882880 -0.01686930 0.07073599
+v -0.01977443 -0.01686934 0.08116116
+v -0.02482765 -0.00884855 0.08224822
+v -0.04033122 -0.00893801 0.06679196
+v -0.03309422 -0.00884850 0.06679196
+v -0.04020441 -0.00965333 0.06679195
+v -0.04026029 -0.01278313 0.07079548
+v -0.03941558 -0.01280118 0.06679194
+v -0.03879656 -0.01470450 0.06679194
+v -0.03847630 -0.01568129 0.06679193
+v -0.03939624 -0.01549521 0.07079547
+v -0.03800988 -0.01686929 0.06679193
+v -0.01975079 -0.01686934 0.08109758
+v -0.02410546 -0.00884855 0.08036951
+v -0.02713395 -0.00884850 0.06728215
+v -0.02428171 -0.01283495 0.06737853
+v -0.03040318 -0.01686929 0.06679193
+v -0.03962837 -0.01202148 0.06679195
+v -0.01955519 -0.01686933 0.07931117
+v -0.02384323 -0.00884854 0.07931120
+v -0.02546387 -0.00884850 0.06760825
+v -0.02015702 -0.01686929 0.06804098
+v -0.02134993 -0.01686929 0.06772924
+v -0.02309094 -0.01686929 0.06753439
+v -0.01913176 -0.01686930 0.07066420
+v -0.02385183 -0.00884851 0.07071141
+v -0.02453533 -0.00884850 0.06801435
+v -0.01939828 -0.01686929 0.06858040
+v -0.01956379 -0.01650810 0.06866859
+v -0.02272984 -0.01116326 0.06899882
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 3 10 4
+f 3 8 17
+f 3 17 27
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+f 3 26 34
+f 3 34 40
+f 3 40 51
+f 3 51 56
+f 3 56 63
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+f 3 62 61
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+f 3 67 64
+f 3 64 58
+f 3 58 52
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+f 3 35 28
+f 3 28 20
+f 3 20 19
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+f 3 18 11
+f 3 11 10
+f 4 10 12
+f 4 12 21
+f 4 21 30
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+f 4 42 53
+f 4 53 59
+f 4 59 65
+f 4 65 66
+f 4 66 60
+f 4 60 54
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+f 8 14 16
+f 8 16 17
+f 10 11 12
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+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 14 15 22
+f 14 22 16
+f 15 23 22
+f 15 24 23
+f 16 22 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 22 23 24
+f 22 24 31
+f 22 31 26
+f 22 26 25
+f 24 32 33
+f 24 33 31
+f 26 31 34
+f 28 35 36
+f 28 36 29
+f 31 33 34
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 42
+f 37 43 38
+f 37 44 56
+f 37 56 51
+f 37 51 49
+f 37 49 48
+f 37 48 47
+f 37 47 57
+f 37 57 45
+f 37 45 43
+f 38 43 45
+f 38 45 46
+f 38 46 39
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 41 52 53
+f 41 53 42
+f 44 54 55
+f 44 55 56
+f 45 57 46
+f 46 57 47
+f 49 51 50
+f 52 58 59
+f 52 59 53
+f 54 60 55
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 55 60 61
+f 58 64 59
+f 59 64 65
+f 60 66 61
+f 61 66 67
+f 64 67 68
+f 64 68 65
+f 65 68 69
+f 65 69 66
+f 66 69 68
+f 66 68 67
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c4c8b40dabfd38b25b0b3da0fa29a7ae83abd37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03743909 0.00001934 -0.05440583
+v 0.03743909 0.00031185 -0.05440583
+v 0.03141669 0.00001934 -0.05440583
+v 0.03755759 0.00001939 -0.06771994
+v 0.03743786 0.00087103 -0.05440583
+v 0.02803580 0.01391709 -0.05440578
+v 0.02494746 0.01391719 -0.08157657
+v 0.02882209 0.00001944 -0.08157662
+v 0.03755265 0.00140032 -0.06771993
+v 0.03743662 0.00140027 -0.05440582
+v 0.03741811 0.00001940 -0.07060032
+v 0.03741441 0.00140033 -0.07060031
+v 0.03494817 0.01391709 -0.05440578
+v 0.03344843 0.01391719 -0.08157657
+v 0.03598256 0.00001944 -0.08157662
+v 0.03736256 0.00424654 -0.06771992
+v 0.03725271 0.00424649 -0.05440581
+v 0.03732306 0.00315807 -0.05440582
+v 0.03598379 0.00140037 -0.08157661
+v 0.03721444 0.00419349 -0.07069871
+v 0.03713544 0.00605605 -0.06980508
+v 0.03535057 0.01278514 -0.05440578
+v 0.03544068 0.01278519 -0.06771989
+v 0.03502223 0.01391714 -0.06771989
+v 0.03385577 0.01291449 -0.08157657
+v 0.03378048 0.01391718 -0.07924940
+v 0.03395452 0.01349678 -0.07924940
+v 0.03715272 0.00614311 -0.06771992
+v 0.03709224 0.00584919 -0.05440581
+v 0.03577395 0.00424659 -0.08157660
+v 0.03701571 0.00510776 -0.07172799
+v 0.03538637 0.00709144 -0.08157659
+v 0.03684043 0.00703834 -0.07069870
+v 0.03622819 0.00993898 -0.07060028
+v 0.03686389 0.00756622 -0.06771991
+v 0.03618993 0.00993892 -0.05440579
+v 0.03629732 0.00993897 -0.06771990
+v 0.03537032 0.01278520 -0.07060027
+v 0.03498520 0.01391714 -0.06919599
+v 0.03425076 0.01192538 -0.08157658
+v 0.03433964 0.01175668 -0.08142765
+v 0.03493830 0.01391715 -0.07060027
+v 0.03681204 0.00727229 -0.05440580
+v 0.03692067 0.00672944 -0.05440581
+v 0.03569989 0.00479624 -0.08157660
+v 0.03526910 0.00764110 -0.08157659
+v 0.03472599 0.01008460 -0.08157658
+v 0.03439025 0.01147641 -0.08157658
+v 0.03642939 0.00891581 -0.05440580
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 17
+f 1 17 29
+f 1 29 44
+f 1 44 43
+f 1 43 49
+f 1 49 36
+f 1 36 22
+f 1 22 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 15
+f 1 15 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 4 11 12
+f 4 12 9
+f 6 13 24
+f 6 24 39
+f 6 39 42
+f 6 42 26
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+f 6 14 7
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+f 7 25 40
+f 7 40 48
+f 7 48 47
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+f 7 32 45
+f 7 45 30
+f 7 30 19
+f 7 19 15
+f 7 15 8
+f 9 12 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 15 19
+f 11 19 12
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+f 12 21 16
+f 13 22 23
+f 13 23 24
+f 14 26 27
+f 14 27 25
+f 16 21 28
+f 16 28 29
+f 16 29 17
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 28
+f 22 36 37
+f 22 37 23
+f 23 37 34
+f 23 34 38
+f 23 38 24
+f 24 38 39
+f 25 27 41
+f 25 41 40
+f 26 42 27
+f 27 42 41
+f 28 35 43
+f 28 43 44
+f 28 44 29
+f 30 45 31
+f 31 45 32
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 41
+f 34 41 38
+f 34 37 35
+f 35 37 36
+f 35 36 49
+f 35 49 43
+f 38 42 39
+f 38 41 42
+f 40 41 48
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c5277b37b40ea13343b23e1eba6a25e633a377
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_16.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01282816 0.03542683 -0.08150718
+v -0.00878896 0.03704505 -0.08102942
+v -0.00928693 0.03678942 -0.08150717
+v -0.01282816 0.02763962 -0.08150721
+v -0.01282816 0.03685328 -0.07059858
+v -0.01197846 0.03718489 -0.07059858
+v -0.00802877 0.03715116 -0.08150717
+v -0.00862381 0.03700044 -0.08150717
+v -0.01001559 0.03782639 -0.07059858
+v -0.00716269 0.03859450 -0.07059858
+v -0.01264662 0.02732972 -0.08150721
+v -0.01282816 0.02724049 -0.08150190
+v -0.01282816 0.03695818 -0.06914941
+v -0.01282816 0.03705465 -0.06771882
+v -0.01223942 0.03727772 -0.06771882
+v -0.01001559 0.03800846 -0.06771882
+v -0.00716774 0.03732721 -0.08150717
+v -0.00716269 0.03878380 -0.06771882
+v -0.00430979 0.03929025 -0.06771882
+v -0.00430979 0.03908286 -0.07059858
+v -0.00493004 0.03771067 -0.08150717
+v 0.00005088 0.02982698 -0.08150720
+v -0.01282816 0.02980638 -0.05439498
+v -0.01282816 0.03705705 -0.06654038
+v -0.01282816 0.03705946 -0.06483641
+v -0.01224825 0.03727771 -0.06483641
+v -0.01001559 0.03801086 -0.06483641
+v -0.00716269 0.03879344 -0.06483641
+v -0.00430979 0.03929988 -0.06483641
+v -0.00145689 0.03954829 -0.06771881
+v -0.00145689 0.03934090 -0.07059858
+v -0.00430979 0.03781678 -0.08150717
+v 0.00005088 0.03806397 -0.08150717
+v 0.00005088 0.03340215 -0.05439497
+v -0.01282816 0.03699189 -0.05439495
+v -0.01215748 0.03725477 -0.05439495
+v -0.01001559 0.03797103 -0.05439495
+v -0.00893772 0.03827007 -0.05439495
+v -0.00716269 0.03875843 -0.05439495
+v -0.00608608 0.03895498 -0.05439495
+v -0.00430979 0.03927573 -0.05439495
+v -0.00145689 0.03955431 -0.06483640
+v -0.00323318 0.03937822 -0.05439495
+v -0.00145689 0.03954704 -0.05439494
+v 0.00005088 0.03954950 -0.06771881
+v 0.00005088 0.03944098 -0.06923965
+v 0.00005088 0.03934331 -0.07059858
+v 0.00005088 0.03955914 -0.06483640
+v -0.00145689 0.03805915 -0.08150717
+v 0.00005088 0.03955066 -0.05439494
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 17
+f 1 17 21
+f 1 21 32
+f 1 32 49
+f 1 49 33
+f 1 33 22
+f 1 22 11
+f 1 11 4
+f 1 4 12
+f 1 12 23
+f 1 23 35
+f 1 35 25
+f 1 25 24
+f 1 24 14
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+f 1 13 5
+f 1 5 6
+f 1 6 2
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+f 2 8 3
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+f 5 13 6
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+f 11 22 12
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+f 16 28 18
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+f 22 33 47
+f 22 47 46
+f 22 46 45
+f 22 45 48
+f 22 48 50
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+f 23 44 43
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+f 23 36 35
+f 25 35 36
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+f 26 37 27
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+f 28 40 41
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+f 29 42 30
+f 29 41 43
+f 29 43 44
+f 29 44 42
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 30 42 48
+f 30 48 45
+f 31 47 33
+f 31 33 49
+f 31 49 32
+f 42 44 48
+f 44 50 48
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f054f550dd462aadf9d51fa30bd57bf7bed18d4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_17.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01344407 -0.03676745 -0.06752483
+v -0.01353920 -0.03672820 -0.06772084
+v -0.01344407 -0.03676567 -0.06772085
+v -0.01344407 -0.03675858 -0.05440176
+v -0.01352664 -0.03672646 -0.05440175
+v -0.01572185 -0.03568982 -0.05440175
+v -0.01572185 -0.03568799 -0.06772084
+v -0.01572185 -0.03547922 -0.07060028
+v -0.01344407 -0.03669073 -0.06878838
+v -0.01344407 -0.02954134 -0.05440173
+v -0.01651881 -0.03526517 -0.05440175
+v -0.01782014 -0.03457110 -0.05440175
+v -0.01780130 -0.03456749 -0.06772084
+v -0.01761911 -0.03446042 -0.07060028
+v -0.01344407 -0.03654976 -0.07060028
+v -0.01492041 -0.03451212 -0.08146377
+v -0.02261174 -0.02239011 -0.05440170
+v -0.01344407 -0.02698621 -0.08146109
+v -0.02054038 -0.02043805 -0.08146372
+v -0.02261174 -0.01853962 -0.08146371
+v -0.01924533 -0.03370932 -0.05440174
+v -0.01923187 -0.03369857 -0.06483609
+v -0.01922648 -0.03369321 -0.06772083
+v -0.01904519 -0.03358614 -0.07060027
+v -0.01661035 -0.03387873 -0.07924921
+v -0.01438283 -0.03475657 -0.08146377
+v -0.01344407 -0.03517765 -0.08146377
+v -0.01634649 -0.03373241 -0.08146376
+v -0.02261174 -0.03130416 -0.05440173
+v -0.01344407 -0.02699691 -0.08146374
+v -0.02261174 -0.02924148 -0.08146375
+v -0.02128977 -0.03228549 -0.05440174
+v -0.02124759 -0.03226939 -0.06772083
+v -0.02111656 -0.03216410 -0.07060027
+v -0.02013921 -0.03143967 -0.08111939
+v -0.01965188 -0.03168411 -0.08146376
+v -0.02261174 -0.03123631 -0.06772082
+v -0.02051794 -0.03104178 -0.08146375
+v -0.02261174 -0.02929680 -0.08112998
+v -0.02261174 -0.03113996 -0.06909299
+v -0.02254264 -0.03108464 -0.07060026
+v -0.02261174 -0.03102398 -0.07060026
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+f 1 30 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
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+f 18 30 19
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+f 35 38 36
+f 35 41 39
+f 39 41 42
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f195183ba150cfba3c101541630d3bd7d3aedd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_18.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02252049 0.01848230 -0.08150724
+v -0.02252049 0.02930969 -0.08150720
+v -0.01290785 0.02716749 -0.08150721
+v -0.01282910 0.02980422 -0.05439498
+v -0.02252049 0.02249383 -0.05439501
+v -0.02015717 0.03140643 -0.08125504
+v -0.02044749 0.03111001 -0.08150720
+v -0.02252049 0.03111361 -0.07059861
+v -0.01287749 0.02720931 -0.08150721
+v -0.01282910 0.02724205 -0.08150190
+v -0.01282910 0.03699278 -0.05439495
+v -0.02252049 0.03136268 -0.05439497
+v -0.01636316 0.03369956 -0.08150719
+v -0.01978716 0.03159737 -0.08150719
+v -0.02012017 0.03137915 -0.08150719
+v -0.02115525 0.03215561 -0.07059860
+v -0.01911356 0.03357768 -0.07059860
+v -0.02252049 0.03132454 -0.06811431
+v -0.01282910 0.02764030 -0.08150721
+v -0.01358525 0.03669818 -0.05439496
+v -0.01282910 0.03705829 -0.06483641
+v -0.01367633 0.03674005 -0.06483642
+v -0.02220266 0.03160273 -0.05439497
+v -0.02131559 0.03228107 -0.06483643
+v -0.02252049 0.03136636 -0.06483643
+v -0.01524555 0.03430149 -0.08150718
+v -0.01768760 0.03445057 -0.07059859
+v -0.01572181 0.03551985 -0.07059859
+v -0.02131179 0.03227562 -0.06771884
+v -0.01930900 0.03369951 -0.06771884
+v -0.02252049 0.03135728 -0.06771884
+v -0.01282910 0.03542533 -0.08150718
+v -0.01491254 0.03606716 -0.05439496
+v -0.01282910 0.03705647 -0.06654038
+v -0.01282910 0.03705466 -0.06771882
+v -0.01366779 0.03673460 -0.06771883
+v -0.01572181 0.03574896 -0.06483642
+v -0.01572181 0.03567800 -0.05439496
+v -0.02131464 0.03226466 -0.05439497
+v -0.01932418 0.03370496 -0.06483643
+v -0.01493626 0.03446334 -0.08150718
+v -0.01788209 0.03456149 -0.06771883
+v -0.01340689 0.03662732 -0.07059859
+v -0.01572181 0.03573624 -0.06771883
+v -0.01282910 0.03685281 -0.07059858
+v -0.01286895 0.03541078 -0.08150718
+v -0.01282910 0.03695828 -0.06914941
+v -0.01789728 0.03456693 -0.06483642
+v -0.01785743 0.03453961 -0.05439496
+v -0.01705574 0.03496878 -0.05439496
+v -0.02054900 0.03280294 -0.05439497
+v -0.01928338 0.03368855 -0.05439497
+f 1 2 7
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+f 1 15 14
+f 1 14 13
+f 1 13 26
+f 1 26 41
+f 1 41 46
+f 1 46 32
+f 1 32 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
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+f 1 25 31
+f 1 31 18
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+f 4 11 20
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+f 22 38 33
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+f 27 30 42
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+f 28 44 36
+f 28 36 43
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+f 32 46 45
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+f 37 50 38
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+f 40 51 52
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+f 41 43 46
+f 42 48 44
+f 43 45 46
+f 43 47 45
+f 48 52 49
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b658825c9106a7312e34d160f34244f436a96ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01281809 0.02975176 -0.03022908
+v 0.01281809 0.02975446 -0.02733115
+v 0.00005088 0.03330105 -0.03600155
+v 0.00005088 0.03330377 -0.03735703
+v 0.00005088 0.03330783 -0.03888779
+v 0.00005088 0.03331325 -0.04024327
+v 0.01281809 0.02980324 -0.04176235
+v 0.00005088 0.03331864 -0.03311531
+v 0.01281809 0.02979506 -0.02445660
+v 0.00005088 0.03345531 -0.02006296
+v 0.00005088 0.03343637 -0.02158204
+v 0.00005088 0.03333086 -0.04312951
+v 0.00005088 0.03340400 -0.05440571
+v 0.01281809 0.02984387 -0.04753483
+v 0.01281809 0.02987085 -0.02157036
+v 0.00005088 0.03347561 -0.01870748
+v 0.00005088 0.03954957 -0.05440568
+v 0.01280809 0.02996708 -0.05440572
+v 0.01281809 0.02996167 -0.05439403
+v 0.01281809 0.02986690 -0.05040939
+v 0.01281809 0.02999808 -0.01870749
+v 0.00005088 0.03679310 0.06497012
+v 0.00005088 0.03356224 -0.01582124
+v 0.00005088 0.03352027 -0.01717672
+v 0.00139683 0.03955499 -0.05440568
+v 0.00005088 0.04271284 0.00231420
+v 0.01281809 0.02998603 -0.05440572
+v 0.01281809 0.03348346 0.05344851
+v 0.01281809 0.03364183 0.05624127
+v 0.01281809 0.03419409 0.06497011
+v 0.00005088 0.04358031 0.06497014
+v 0.00139683 0.04270879 0.00239600
+v 0.00284777 0.04267765 0.00287509
+v 0.00248784 0.03945482 -0.05440569
+v 0.00005088 0.04275480 0.00426563
+v 0.00139683 0.04276427 0.00435911
+v 0.01281809 0.03703720 -0.05440569
+v 0.01281809 0.03573319 0.06497011
+v 0.00139683 0.04357624 0.06497014
+v 0.00139683 0.04280758 0.00723366
+v 0.00005088 0.04280352 0.00723366
+v 0.00295774 0.04268982 0.00435911
+v 0.00438368 0.04252468 0.00435911
+v 0.00397877 0.04247325 0.00174163
+v 0.00424996 0.03929238 -0.05440569
+v 0.00005088 0.04278052 0.00571459
+v 0.01272686 0.03707375 -0.05440569
+v 0.01281809 0.04055513 0.00147286
+v 0.01281809 0.04115321 0.06495845
+v 0.01280809 0.04115727 0.06497013
+v 0.00424996 0.04325949 0.06497014
+v 0.00314145 0.04271147 0.00723366
+v 0.00456739 0.04254497 0.00723366
+v 0.00710184 0.04213483 0.00435910
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+v 0.00534097 0.03910016 -0.05440569
+v 0.01218073 0.03728898 -0.05440569
+v 0.01280809 0.04055919 0.00148454
+v 0.01281809 0.04064852 0.00434741
+v 0.00995496 0.04206692 0.06497013
+v 0.01280809 0.04065258 0.00435910
+v 0.00655071 0.04288047 0.06497014
+v 0.00710184 0.04216595 0.00723365
+v 0.00471111 0.04255985 0.01011990
+v 0.00328392 0.04272906 0.01011990
+v 0.00995496 0.04152027 0.00435910
+v 0.00995496 0.04141740 0.00148454
+v 0.00710184 0.03878747 -0.05440569
+v 0.01080228 0.03774516 -0.05440569
+v 0.00995496 0.03802536 -0.05440569
+v 0.00801414 0.04258537 0.06497014
+v 0.00662444 0.04286828 0.06497014
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+f 58 66 61
+f 60 61 66
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+f 62 72 63
+f 63 72 71
+f 63 71 66
+f 67 70 68
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ae9514436d58cf1997b2df53635253bfc1851c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01301413 -0.02402025 0.06786397
+v -0.00005843 -0.02732374 0.06787155
+v -0.00716149 -0.02706890 0.06748649
+v -0.01001489 -0.02706890 0.06734043
+v -0.01301413 -0.02723107 0.06806123
+v -0.01301413 -0.02372118 0.06793985
+v -0.00005843 -0.02859481 0.06764012
+v -0.01301413 -0.02334312 0.06819212
+v -0.01301413 -0.02241221 0.07066562
+v -0.00005843 -0.02642654 0.07066560
+v -0.00005843 -0.02991431 0.06743906
+v -0.00145723 -0.02991431 0.06750355
+v -0.00431063 -0.02991431 0.06771979
+v -0.00697888 -0.03009017 0.06824522
+v -0.01001489 -0.02930879 0.06840266
+v -0.01299131 -0.02725635 0.06806503
+v -0.01301413 -0.02724898 0.06806882
+v -0.01301413 -0.02263550 0.07931143
+v -0.00005843 -0.02696469 0.07931141
+v -0.00005843 -0.03161713 0.06879150
+v -0.00145723 -0.03158870 0.06883133
+v -0.00431063 -0.03146865 0.06902481
+v -0.01147203 -0.03317042 0.07119290
+v -0.01301413 -0.03317042 0.07159124
+v -0.01301413 -0.02280400 0.08043246
+v -0.00005843 -0.02773871 0.08206563
+v -0.00005843 -0.03220897 0.07066558
+v -0.01011635 -0.03317042 0.07145277
+v -0.01301413 -0.03317048 0.08671856
+v -0.01301413 -0.02358959 0.08215289
+v -0.00005843 -0.02866542 0.08350722
+v -0.00005843 -0.03269234 0.07354878
+v -0.00005843 -0.03317044 0.07690619
+v -0.00005843 -0.03317047 0.08563547
+v -0.01301413 -0.02685519 0.08438736
+v -0.01301413 -0.02396975 0.08261952
+v -0.01301413 -0.02527347 0.08376900
+v -0.00005843 -0.03008918 0.08422612
+v -0.00005843 -0.03276083 0.08545337
+v -0.01301413 -0.02608012 0.08408576
+f 1 2 3
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+f 1 4 5
+f 1 5 17
+f 1 17 24
+f 1 24 29
+f 1 29 35
+f 1 35 40
+f 1 40 37
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+f 23 29 24
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+f 29 34 35
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 34 39 37
+f 34 37 40
+f 34 40 35
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8d9d1fab7bd66eecd31aa46d203eee092db21d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_20.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01268181 -0.04144562 0.06677999
+v -0.01268181 -0.03434754 0.06678001
+v -0.01286888 -0.04138587 0.06677999
+v -0.01286888 -0.04061290 0.00435625
+v -0.01268181 -0.04066866 0.00435625
+v -0.02360128 -0.02705629 0.06678004
+v -0.01268181 -0.03364447 0.05602017
+v -0.02360128 -0.02596882 0.05336285
+v -0.01366312 -0.04107916 0.06677999
+v -0.01456212 -0.03999351 0.00435625
+v -0.01447339 -0.03995366 0.00147352
+v -0.01286888 -0.04052525 0.00147352
+v -0.01268181 -0.04058899 0.00166333
+v -0.02360128 -0.03561819 0.06678001
+v -0.01268181 -0.03349310 0.05336283
+v -0.02360128 -0.02140977 -0.01870558
+v -0.02360128 -0.02154521 -0.01647531
+v -0.01556481 -0.04033231 0.06677999
+v -0.01598919 -0.03934026 0.00435626
+v -0.01589939 -0.03930241 0.00147353
+v -0.01609181 -0.04009332 0.06677999
+v -0.01436543 -0.03990785 -0.00009242
+v -0.01268181 -0.03705368 -0.05438990
+v -0.01268181 -0.04058301 0.00147352
+v -0.02290538 -0.03613202 0.06678001
+v -0.02360128 -0.03461020 0.00435627
+v -0.02350614 -0.03468788 0.00435627
+v -0.01268181 -0.03018478 -0.01606014
+v -0.02360128 -0.02138388 -0.01920383
+v -0.01844567 -0.03890433 0.06678000
+v -0.01857394 -0.03798995 0.00435626
+v -0.01884546 -0.03773700 0.00131931
+v -0.01572194 -0.03568943 -0.05438989
+v -0.01436543 -0.03633073 -0.05438989
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+v -0.02223407 -0.03662195 0.06678001
+v -0.02360128 -0.03452854 0.00147354
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f0a7a91ffd344ffaeb3562df1154601f4fdac0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_21.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f1ee8ecfb1e7eaa8e3f5f33f94cbb789fa0db4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097a0713e550c49ad31ae2cc36d79ecda268b1fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_23.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9155ecff7d2214c568e1b83c9f947343fee5c25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d5519b1f8877917fb42da71f881d59f8876531
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e081054dcd91e5853d036048aa4c4a3025a28ed0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_26.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v 0.00005088 0.03330350 -0.03736432
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe706d2658f24135191d2e2f673b4a7973ef280c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01280506 -0.04141569 0.06626534
+v 0.01546014 -0.04035676 0.06627715
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef06c0b58b367f8eb06bf87414547e697894bbe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315a4fb1b4c4fa406dfc333e6072f10af981873e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02359308 0.02122489 -0.03022911
+v 0.02359308 0.02125024 -0.02768174
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e07b9f7e33fba7d419f133a7c6cf1bf48e9ea10d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_3.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01708021 0.02156823 0.08285608
+v 0.01708021 0.02238094 0.08378113
+v 0.01681444 0.02252948 0.08374756
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+f 21 24 30
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2aca66aaadbab43313f18baf05f7498b007d24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_30.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01810126 0.01783976 0.07066419
+v -0.01810126 0.01785514 0.07050766
+v -0.00905343 0.02435557 0.07061396
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a37a87aed584cc8c1605f868d901f259accbd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..914068b2e450a9cd9e2698c85d70f1302a02916f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
+v 0.04123394 -0.00808073 0.07066569
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47731a557281794a2ff2131d6010404f8b2c5ae7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03563267 0.00001860 0.08750305
+v 0.03848492 0.00001860 0.08737417
+v 0.03563267 0.00993803 0.08766973
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d33d802a53e8804b8f63fed9986575849e36793
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00005088 0.02973984 0.06728790
+v 0.00139647 0.02986439 0.06739933
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9655d73176afa04a1c027570d5de54d53909b6a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00905343 0.02435458 0.07061275
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+f 1 29 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 3 22 31
+f 3 31 37
+f 3 37 41
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+f 3 32 25
+f 3 25 24
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+f 3 9 4
+f 4 9 10
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+f 6 13 7
+f 7 13 14
+f 7 14 8
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+f 9 16 10
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+f 11 19 20
+f 11 20 13
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+f 13 20 14
+f 14 20 22
+f 15 23 16
+f 16 23 24
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+f 16 25 26
+f 17 21 27
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 22 20
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+f 19 29 22
+f 21 29 28
+f 21 28 27
+f 22 29 30
+f 22 30 31
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 30 36 37
+f 30 37 31
+f 32 38 33
+f 33 38 39
+f 36 40 41
+f 36 41 37
+f 38 42 39
+f 39 42 43
+f 40 44 45
+f 40 45 41
+f 42 45 43
+f 43 45 46
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd4d8b3cf517ad0be22e531d761008fcdbc6c352
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03277627 0.01847878 0.08770750
+v 0.03302729 0.02156728 0.08730248
+v 0.02970453 0.02156728 0.08732918
+v 0.03277627 0.01702923 0.08758287
+v 0.03562805 0.01169490 0.08766296
+v 0.03562805 0.01278593 0.08765852
+v 0.03517518 0.01847878 0.08717117
+v 0.03464468 0.02076906 0.08688409
+v 0.03507943 0.02156729 0.08530179
+v 0.02966313 0.02107636 0.08726687
+v 0.03277627 0.01563187 0.08746269
+v 0.01853809 0.02156729 0.08396652
+v 0.03776817 0.01169490 0.08710214
+v 0.03301435 0.01169490 0.08700423
+v 0.03585837 0.01580098 0.08726685
+v 0.03554524 0.01702923 0.08722457
+v 0.03763620 0.01278593 0.08703094
+v 0.03731790 0.01496508 0.08677724
+v 0.03696078 0.01686205 0.08630545
+v 0.03692455 0.01703020 0.08619641
+v 0.03658554 0.01850295 0.08523725
+v 0.03508202 0.02156729 0.08529289
+v 0.01595545 0.02156730 0.08199477
+v 0.02522502 0.01169491 0.08385744
+v 0.02697956 0.01169491 0.08459851
+v 0.03830644 0.01169490 0.08625870
+v 0.03894304 0.01169491 0.08503470
+v 0.03865062 0.01278594 0.08507699
+v 0.03765431 0.01580099 0.08523724
+v 0.03703323 0.01702923 0.08585146
+v 0.03725837 0.01757040 0.08438266
+v 0.03558406 0.02156730 0.08249328
+v 0.01468224 0.02156731 0.07931088
+v 0.02387676 0.01169492 0.08237083
+v 0.02434257 0.01169492 0.08294500
+v 0.03916042 0.01169491 0.08370611
+v 0.03910608 0.01278595 0.08219503
+v 0.03738000 0.01702924 0.08464527
+v 0.03678739 0.01926445 0.08219283
+v 0.03998594 0.01443653 0.07226951
+v 0.03575226 0.02132474 0.08219284
+v 0.03733083 0.02043861 0.07268793
+v 0.03561770 0.02156730 0.08219284
+v 0.01410775 0.02156734 0.07066722
+v 0.02289339 0.01169493 0.07931084
+v 0.03939850 0.01169492 0.08219502
+v 0.04023954 0.01278598 0.07278360
+v 0.04052420 0.01169496 0.07197352
+v 0.04054490 0.01169496 0.07070724
+v 0.03998594 0.01443654 0.07173986
+v 0.03731013 0.02039707 0.07066721
+v 0.03667870 0.02156734 0.07066722
+v 0.03819258 0.01847884 0.07066721
+v 0.01425266 0.02156734 0.06951889
+v 0.02248969 0.01169497 0.06877109
+v 0.02240947 0.01169496 0.07014865
+v 0.03953048 0.01169498 0.06497225
+v 0.04026542 0.01281111 0.07073395
+v 0.03921218 0.01278601 0.06497226
+v 0.03919148 0.01285655 0.06497226
+v 0.03828833 0.01563195 0.06497227
+v 0.03826504 0.01570056 0.06497227
+v 0.03742658 0.01790097 0.06497228
+v 0.03676410 0.01935245 0.06497228
+v 0.03572639 0.02131997 0.06497229
+v 0.03558406 0.02156736 0.06497229
+v 0.01508853 0.02156735 0.06820587
+v 0.02292703 0.01169497 0.06822141
+v 0.03253302 0.01169498 0.06497225
+v 0.02792411 0.02156736 0.06497229
+v 0.01540683 0.02156735 0.06803896
+v 0.02540358 0.01169498 0.06638318
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 22
+f 2 22 32
+f 2 32 43
+f 2 43 52
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+f 2 71 67
+f 2 67 54
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+f 10 14 11
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+f 23 35 24
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+f 28 38 29
+f 29 38 30
+f 30 38 31
+f 31 39 32
+f 31 37 40
+f 31 40 39
+f 32 41 42
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+f 32 39 41
+f 33 44 45
+f 33 45 34
+f 36 46 37
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+f 39 40 42
+f 39 42 41
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 42
+f 42 51 52
+f 42 52 43
+f 42 50 53
+f 42 53 51
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 46 48 47
+f 49 57 58
+f 49 58 50
+f 50 58 57
+f 50 57 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 53
+f 51 64 65
+f 51 65 52
+f 51 53 64
+f 52 65 66
+f 53 63 64
+f 54 67 55
+f 55 67 68
+f 57 69 70
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+f 57 62 61
+f 57 61 60
+f 57 60 59
+f 67 71 72
+f 67 72 68
+f 69 72 70
+f 70 72 71
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d70579f5bec883fc34be08d8ab3c21c508b948f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03144228 -0.00884779 0.08631455
+v -0.02998606 -0.00884778 0.08568387
+v -0.03144228 0.00001746 0.08603533
+v -0.03144228 -0.00884776 0.07820117
+v -0.02709817 -0.00884778 0.08429142
+v -0.02998606 0.00001747 0.08539515
+v -0.03144228 0.00001751 0.07327922
+v -0.03144228 -0.00700371 0.07659407
+v -0.02973232 -0.00884773 0.07066528
+v -0.02590983 -0.00884778 0.08360755
+v -0.02769644 0.00001747 0.08420027
+v -0.03069371 0.00001752 0.07066531
+v -0.03144228 -0.00164169 0.07327921
+v -0.03066469 -0.00144816 0.07066530
+v -0.02941161 -0.00884773 0.06970786
+v -0.02581682 -0.00884778 0.08354867
+v -0.02627072 0.00001748 0.08296551
+v -0.03007833 0.00001753 0.06920068
+v -0.02946965 -0.00144815 0.06784623
+v -0.02932231 -0.00429534 0.06797159
+v -0.02913406 -0.00714079 0.06827553
+v -0.02899267 -0.00884772 0.06856617
+v -0.02482715 -0.00884777 0.08224741
+v -0.02578482 0.00001748 0.08222274
+v -0.02949792 0.00001753 0.06783294
+v -0.02713389 -0.00429534 0.06690779
+v -0.02713389 -0.00714079 0.06702556
+v -0.02793455 -0.00884772 0.06778162
+v -0.02410462 -0.00884777 0.08036866
+v -0.02534877 0.00001748 0.08152367
+v -0.02836465 0.00001753 0.06742452
+v -0.02713389 0.00001753 0.06700849
+v -0.02453546 -0.00884772 0.06801338
+v -0.02546336 -0.00884772 0.06760685
+v -0.02713389 -0.00884772 0.06728201
+v -0.02384120 -0.00884776 0.07931246
+v -0.02521185 0.00001748 0.08044278
+v -0.02629676 0.00001753 0.06767717
+v -0.02542318 0.00001753 0.06839903
+v -0.02385088 -0.00884773 0.07071087
+v -0.02506898 0.00001749 0.07931249
+v -0.02530933 0.00001752 0.07066531
+f 1 2 3
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+f 1 13 8
+f 1 8 4
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+f 1 15 22
+f 1 22 28
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+f 1 33 40
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+f 21 27 28
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+f 23 29 30
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+f 29 36 30
+f 30 36 37
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 36 41 37
+f 36 40 41
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a87d50b70a7d0d248581f65c9d5be60f998a08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04179710 0.00001752 0.07066555
+v -0.04112609 0.00001753 0.06679199
+v -0.04112305 -0.00144815 0.06679198
+v -0.04178696 -0.00144816 0.07066554
+v -0.04073078 -0.00144820 0.08219394
+v -0.04073585 0.00001748 0.08219395
+v -0.03339728 0.00001753 0.06679199
+v -0.04101560 -0.00331822 0.06679198
+v -0.04164405 -0.00429535 0.07066553
+v -0.04057063 -0.00429539 0.08219393
+v -0.04025539 -0.00429540 0.08491095
+v -0.04027769 -0.00170681 0.08536414
+v -0.04032635 0.00001747 0.08520421
+v -0.03309724 -0.00884772 0.06679196
+v -0.03144303 0.00001751 0.07328005
+v -0.04094567 -0.00429534 0.06679197
+v -0.04137341 -0.00714080 0.07066552
+v -0.04011146 -0.00714085 0.08430602
+v -0.03991077 -0.00429541 0.08635251
+v -0.03996955 -0.00282712 0.08651452
+v -0.03999388 -0.00092929 0.08654529
+v -0.04014491 0.00001746 0.08594857
+v -0.04034662 -0.00884772 0.06679196
+v -0.03144303 -0.00164169 0.07328004
+v -0.03144303 -0.00700371 0.07659377
+v -0.03144303 -0.00884776 0.07820142
+v -0.03144303 0.00001746 0.08603470
+v -0.04075308 -0.00616454 0.06679197
+v -0.04063043 -0.00714079 0.06679196
+v -0.04108960 -0.00884773 0.07066552
+v -0.04000402 -0.00872021 0.08378722
+v -0.03971210 -0.00714085 0.08574758
+v -0.03868936 -0.00884779 0.08660268
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+v -0.03828493 -0.00714086 0.08725886
+v -0.03848461 -0.00429541 0.08728964
+v -0.03999489 0.00001746 0.08654529
+v -0.03882924 -0.00170682 0.08715225
+v -0.03940497 0.00001746 0.08685903
+v -0.03144303 -0.00884779 0.08631355
+v -0.03197011 0.00001746 0.08627256
+v -0.03993712 -0.00884778 0.08391641
+v -0.03953573 -0.00884778 0.08518982
+v -0.03569311 -0.00884779 0.08774075
+v -0.03867111 0.00001746 0.08724249
+v -0.03308407 -0.00884779 0.08705176
+v -0.03339626 0.00001746 0.08690620
+v -0.03569311 -0.00714086 0.08773255
+v -0.03569311 -0.00429541 0.08771206
+v -0.03569311 0.00001746 0.08767517
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 37
+f 1 37 39
+f 1 39 45
+f 1 45 50
+f 1 50 47
+f 1 47 41
+f 1 41 27
+f 1 27 15
+f 1 15 7
+f 1 7 2
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+f 2 28 16
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+f 10 18 11
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+f 16 28 17
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+f 44 46 48
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+f 46 50 49
+f 46 49 48
+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2292d4f708d3c0f77d8ebef3bf0fd9641529e65a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.04136022 0.00751545 0.07066493
+v -0.04094468 0.00993902 0.07066494
+v -0.04054467 0.00751547 0.06624641
+v -0.04010194 0.00751540 0.08422364
+v -0.04001262 0.00871132 0.08382789
+v -0.04019903 0.01330245 0.07255109
+v -0.04019903 0.01330245 0.07242058
+v -0.04019321 0.01330246 0.07114491
+v -0.04027670 0.01272064 0.07078494
+v -0.04000097 0.01024553 0.06624642
+v -0.04018932 0.00947506 0.06624641
+v -0.03336198 0.00751547 0.06624641
+v -0.03968640 0.00751540 0.08566351
+v -0.03946892 0.00977185 0.08490359
+v -0.03869997 0.01278517 0.08507832
+v -0.03908250 0.01278518 0.08219439
+v -0.03853297 0.01330241 0.08511832
+v -0.03914270 0.01330248 0.06624643
+v -0.03932134 0.01275522 0.06624643
+v -0.03189593 0.01330248 0.06624643
+v -0.02713466 0.00751546 0.06692003
+v -0.03826112 0.00751539 0.08725283
+v -0.03803782 0.00993896 0.08719811
+v -0.03772325 0.01278516 0.08704024
+v -0.03764946 0.01330240 0.08698340
+v -0.02428217 0.01330247 0.06729686
+v -0.02428217 0.01278523 0.06725686
+v -0.02485111 0.00751546 0.06792414
+v -0.03791160 0.00751539 0.08733493
+v -0.03569213 0.01278516 0.08771386
+v -0.03742809 0.01330240 0.08708023
+v -0.02202969 0.01330247 0.06830307
+v -0.02220639 0.01278523 0.06841043
+v -0.02272291 0.01108681 0.06896826
+v -0.02473460 0.00751546 0.06832831
+v -0.03569213 0.00751539 0.08772015
+v -0.03569213 0.00993896 0.08774964
+v -0.03517367 0.01330240 0.08768860
+v -0.03573679 0.01330240 0.08764018
+v -0.02177919 0.01330247 0.06896827
+v -0.02152288 0.01330246 0.07074495
+v -0.02428605 0.00751545 0.07068178
+v -0.03529407 0.00751539 0.08761911
+v -0.03262799 0.01330240 0.08725285
+v -0.02178114 0.01330243 0.07941570
+v -0.02423556 0.00751542 0.07933148
+v -0.03322606 0.00751539 0.08698549
+v -0.03208428 0.01330240 0.08706340
+v -0.02228989 0.01330242 0.08147445
+v -0.02284524 0.01134056 0.08077135
+v -0.02492878 0.00751541 0.08191018
+v -0.02998715 0.00751540 0.08553299
+v -0.02659872 0.01330241 0.08479625
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ca8498c5716e767a30c558465c2833cc1de65a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc4cc8f22c2258be11a7f3bdef65ef2621c24662
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_40.obj
@@ -0,0 +1,298 @@
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fadcf814e00383fa35ceeb1f197e5d2a0536a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02304753 0.02156822 0.08521117
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+v 0.02136937 0.02980569 0.08714437
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6923313961fb1468df8f44e488d18be947c2257
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_43.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e6bf098a427d4e949ef049c1ebb11382d136b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_43.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_44.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c3800228427b1c04f151aed2b43c8298acdbdb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_44.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02405411 -0.00808073 0.07068314
+v 0.02521401 0.00001752 0.07066437
+v 0.02528520 0.00001753 0.06833922
+v 0.02471220 -0.00808072 0.06763308
+v 0.02418086 -0.00808076 0.07931105
+v 0.02518275 0.00001749 0.07931108
+v 0.02608915 0.00001753 0.06763938
+v 0.02545189 -0.00808071 0.06666374
+v 0.02493793 -0.00808077 0.08210416
+v 0.02541196 0.00001748 0.08134167
+v 0.02697122 0.00001753 0.06689775
+v 0.02594850 -0.00808071 0.06632740
+v 0.02550399 -0.00808078 0.08304006
+v 0.02631835 0.00001748 0.08278314
+v 0.02839853 0.00001754 0.06632326
+v 0.02664826 -0.00808071 0.06631696
+v 0.02580090 -0.00808078 0.08349131
+v 0.02701116 0.00001747 0.08341196
+v 0.03341840 0.00001754 0.06627939
+v 0.02837422 -0.00144817 0.06631907
+v 0.03326213 -0.00808071 0.06627936
+v 0.02716917 -0.00808078 0.08419324
+v 0.02774565 0.00001747 0.08406375
+v 0.04116265 0.00001754 0.06627939
+v 0.04044726 -0.00808071 0.06627936
+v 0.02992654 0.00001747 0.08508949
+v 0.03351911 -0.00808079 0.08688189
+v 0.03375352 0.00001746 0.08673778
+v 0.04116265 -0.00008710 0.06627939
+v 0.04179122 0.00001752 0.07066437
+v 0.04062437 -0.00714135 0.06627936
+v 0.04123384 -0.00808073 0.07066434
+v 0.03488391 -0.00808079 0.08738953
+v 0.03563055 0.00001746 0.08750238
+v 0.04116092 -0.00144817 0.06627938
+v 0.04178601 -0.00144819 0.07066436
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+v 0.04086747 -0.00144823 0.08219401
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+v 0.04046289 -0.00144824 0.08507694
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+v 0.03968673 -0.00714143 0.08595434
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+v 0.03739297 -0.00808079 0.08740625
+v 0.03999233 -0.00144825 0.08661451
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+v 0.03995760 -0.00334439 0.08657481
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+v 0.03983606 -0.00524133 0.08636590
+v 0.03817261 -0.00808079 0.08725584
+v 0.03825942 -0.00714143 0.08727464
+v 0.03872478 -0.00429325 0.08716392
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 12 16
+f 1 16 21
+f 1 21 25
+f 1 25 32
+f 1 32 41
+f 1 41 51
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+f 1 61 53
+f 1 53 42
+f 1 42 33
+f 1 33 27
+f 1 27 22
+f 1 22 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 23
+f 2 23 26
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+f 58 62 61
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_45.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db888ff76be5faf06ce45adb83498322147bfbe5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_45.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.02304754 0.03111080 0.06497232
+v 0.02853450 0.03111080 0.06497232
+v 0.02304754 0.02720785 0.06497231
+v 0.02304754 0.03111072 0.08724097
+v 0.02972772 0.02980017 0.06497232
+v 0.02967433 0.03111078 0.07066456
+v 0.03044979 0.03029993 0.07066456
+v 0.02792587 0.02156829 0.06497229
+v 0.02304754 0.02156827 0.07031320
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+v 0.02420606 0.03111072 0.08746555
+v 0.03111581 0.02823170 0.06497231
+v 0.02958758 0.03111078 0.07200979
+v 0.03170842 0.02887626 0.07066456
+v 0.03168973 0.02885196 0.07281471
+v 0.03558573 0.02156829 0.06497229
+v 0.02304754 0.02156822 0.08521308
+v 0.02304754 0.02984026 0.08746333
+v 0.02422074 0.02986454 0.08768568
+v 0.02710236 0.02989257 0.08722097
+v 0.02649774 0.03111072 0.08698305
+v 0.03114918 0.02818873 0.06497231
+v 0.02862259 0.03111074 0.08219578
+v 0.03431109 0.02574211 0.07233441
+v 0.03431109 0.02574212 0.07160509
+v 0.02977310 0.02984401 0.08219578
+v 0.03119723 0.02824752 0.08219577
+v 0.03457269 0.02333667 0.06497230
+v 0.03654538 0.02182143 0.07066453
+v 0.03668152 0.02156827 0.07066453
+v 0.02859323 0.02156821 0.08699190
+v 0.02304754 0.02763376 0.08686741
+v 0.02970636 0.02156821 0.08732988
+v 0.02707433 0.02701814 0.08767677
+v 0.02992526 0.02417267 0.08766342
+v 0.02992392 0.02695181 0.08715647
+v 0.02897228 0.02896214 0.08685186
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+v 0.03414826 0.02266772 0.08640490
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_46.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b84a7116aa8e7b44d1b89aac34c085e8e579d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_46.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01810126 0.03093156 0.08698461
+v -0.01764864 0.03093156 0.08690218
+v -0.00905343 0.03544571 0.08710722
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+v -0.01810126 0.03093162 0.07040807
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+v -0.01810126 0.03135420 0.06624650
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+v -0.01810126 0.03555943 0.08772015
+v -0.01810126 0.03900467 0.06624652
+v -0.00905343 0.03561218 0.06624651
+v -0.01001623 0.03840486 0.08783641
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+v -0.01286919 0.03840486 0.08765252
+v -0.01810126 0.03602748 0.08761870
+v -0.01745201 0.03936140 0.06624652
+v -0.01810126 0.03977317 0.07066596
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+v -0.00905343 0.04253004 0.06624654
+v -0.00905343 0.04073795 0.08720447
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+v -0.01286919 0.04024476 0.08690434
+v -0.01561499 0.03848985 0.08717487
+v -0.01810126 0.03770338 0.08699944
+v -0.01728903 0.03990127 0.06889270
+v -0.01551667 0.04029871 0.06624653
+v -0.01758487 0.04006285 0.07276471
+v -0.01810126 0.03913390 0.08219535
+v -0.01572127 0.04090560 0.07066596
+v -0.00905343 0.04284845 0.06835798
+v -0.00918717 0.04250730 0.06624654
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+v -0.01286919 0.04140354 0.08219536
+v -0.00905343 0.04248330 0.08219537
+v -0.01008354 0.04294780 0.07079067
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_47.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb670d2ae364446fc81dce960d70b318b60c4dfa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_47.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00938654 -0.03401699 0.08642883
+v 0.00938654 -0.03323539 0.08615913
+v -0.00005843 -0.03401699 0.08601099
+v 0.00938654 -0.03401696 0.07768836
+v 0.00938654 -0.03048231 0.08511454
+v 0.00938654 -0.02991458 0.08487903
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+v -0.00005843 -0.03374187 0.08589133
+v -0.00005843 -0.03401696 0.07839679
+v 0.00139678 -0.03224570 0.07066483
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+v 0.00424987 -0.03154479 0.06891560
+v 0.00593158 -0.03140188 0.06913212
+v 0.00938654 -0.03231765 0.07307502
+v -0.00005843 -0.03276098 0.08545260
+v 0.00938654 -0.02772729 0.08395599
+v -0.00005843 -0.03220876 0.07066483
+v -0.00005843 -0.03161770 0.06879215
+v 0.00139678 -0.02991452 0.06737339
+v 0.00424987 -0.02991452 0.06749875
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+v 0.00938654 -0.02946443 0.06828884
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1832d3723fb596e06f084986af892dbf18274f80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+v -0.02258204 0.03106598 -0.07059861
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6e604e1f8986a7f3c0f72372f3ed762bf8ba2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00005088 0.03805562 -0.08157648
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+
diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9122af42a645d217b1b2b61735747c0732f30d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.02897753 0.00001493 -0.08151211
+v 0.03141749 0.00001483 -0.05440646
+v 0.03598868 0.00001493 -0.08151211
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+v 0.03756229 -0.00144929 -0.06772050
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+v 0.03738114 -0.00429557 -0.06772051
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+v 0.02147177 -0.03195056 -0.07059939
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46396e4930373baf118f833eeb0181181b329ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1e1197420adb897f44b7f21e4101506a2c95f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_9.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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