diff --git a/.gitattributes b/.gitattributes
index a35c3cfbf2f122a4963a286f6fd55ac98004b048..a71d702794432a6319e9f20d43cb8f7d1b8bec55 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4663,3 +4663,6 @@ dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/297e9c3a31595923bef71b19291668fd.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/29f5c30ddb105b468cc97db4665ee58b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.urdf b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd62bfa65f628bd6339363c4ecda1b7a2abe2ee3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>simple red cup with white rim, tapered cylindrical shape</description>
+         <min_height>0.125</min_height>
+         <max_height>0.125</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260120013607</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.739589214324951</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.usd b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc3c031dc9159b5ba899a58ddb69fee702f04dd4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/2c3e6386e78d5caf88352784b1f59544.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b3dc6a89cff279010811162ee64d5776ff3df819eef119068069b730866a1ea
+size 1018657
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/material.mtl b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/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/2c3e6386e78d5caf88352784b1f59544/mesh/material_0.png b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf90b8ca146db9e9925ab1999ad520571fd00003
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41fe2f38fefafb1618bef79ae7c7d20061a2b9be02d96a98ac767e098e7d199e
+size 1174898
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a470588d06fbe60d1acfcafac8b6f46d8adbd4d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01aeb5cada147f12918dfb09e37e79f330fffe653a0955457e1f910d84715d0a
+size 1854996
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..553c9b4663da29e2871a0d3074fd9e15d710e665
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup.obj
@@ -0,0 +1,62004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o red_cup.obj
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2472e2b1bce3fa5efcb3100148b54ca454a8422e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_gs.ply b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..76878511cb77bc517e91aa67404825e8b1e83ee7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mesh/red_cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4811209
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/2c3e6386e78d5caf88352784b1f59544.xml b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/2c3e6386e78d5caf88352784b1f59544.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f90b7ca58c134889947291d2059ea078ea1ef34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/2c3e6386e78d5caf88352784b1f59544.xml
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="red_cup">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_0" file="mesh/red_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_45" file="mesh/red_cup_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_45" 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/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf90b8ca146db9e9925ab1999ad520571fd00003
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41fe2f38fefafb1618bef79ae7c7d20061a2b9be02d96a98ac767e098e7d199e
+size 1174898
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0842bdca7a4ff10be80160261f0e2333f07bd3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup.obj
@@ -0,0 +1,62004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o red_cup.obj
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e8503eb661216dd308947193a659c64fb99292
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,13950 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3260fd102b8dc68fd9666a67e7b4ccf3a2e2f66c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_0.obj
@@ -0,0 +1,1300 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb3895b29ef3b2a944821b3aa2aabc181f56498
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487b3bed6229e52c3bf1f787d1407cfcf060610d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafa225e0a18ca0a23bcc1344a48a1afa12d4963
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_11.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0705878e0cda99aed360acd8f402277a2c298e58
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_12.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00028168 0.03868001 -0.05578943
+v 0.00028168 0.03867323 -0.05585150
+v 0.00021826 0.03868001 -0.05578943
+v 0.00028168 0.03398728 -0.05578945
+v 0.00028168 0.03858987 -0.05660027
+v -0.00103036 0.03867322 -0.05578943
+v 0.00028168 0.03058380 -0.05727768
+v -0.02205791 0.02516649 -0.05578948
+v -0.02205791 0.02130718 -0.05727771
+v 0.00028168 0.03851164 -0.05727765
+v -0.00035248 0.03850824 -0.05727765
+v -0.00103036 0.03858138 -0.05660027
+v -0.00184382 0.03860347 -0.05578943
+v -0.02205791 0.03082022 -0.05578946
+v -0.02205791 0.03060762 -0.05727768
+v -0.00103036 0.03850313 -0.05727765
+v -0.00241456 0.03838408 -0.05727765
+v -0.00309244 0.03840277 -0.05660027
+v -0.00309244 0.03849462 -0.05578943
+v -0.02173646 0.03107705 -0.05578946
+v -0.02127069 0.03134921 -0.05660029
+v -0.02205791 0.03071988 -0.05660030
+v -0.02205791 0.03065355 -0.05700419
+v -0.02189172 0.03074200 -0.05727768
+v -0.00309244 0.03832114 -0.05727765
+v -0.00390590 0.03840276 -0.05578943
+v -0.00515452 0.03816975 -0.05660027
+v -0.02132973 0.03139342 -0.05578945
+v -0.02120071 0.03129648 -0.05727768
+v -0.01980339 0.03237824 -0.05660029
+v -0.00447664 0.03816466 -0.05727765
+v -0.00515452 0.03826160 -0.05578943
+v -0.00515452 0.03808132 -0.05727765
+v -0.00721660 0.03769522 -0.05727765
+v -0.00721660 0.03778196 -0.05660027
+v -0.01986462 0.03242076 -0.05578945
+v -0.01968312 0.03235953 -0.05727767
+v -0.01924140 0.03282216 -0.05578945
+v -0.01877345 0.03303989 -0.05660029
+v -0.01871440 0.03300417 -0.05727767
+v -0.01924359 0.03266400 -0.05727767
+v -0.00721660 0.03787039 -0.05578943
+v -0.00911468 0.03719345 -0.05727765
+v -0.00936178 0.03722236 -0.05641494
+v -0.01883467 0.03307730 -0.05578945
+v -0.01807807 0.03352293 -0.05578945
+v -0.01752264 0.03384950 -0.05578945
+v -0.01752264 0.03377466 -0.05660029
+v -0.01757293 0.03366071 -0.05727767
+v -0.00933335 0.03729379 -0.05578943
+v -0.00985817 0.03699104 -0.05727765
+v -0.01010527 0.03695703 -0.05697735
+v -0.01599193 0.03470335 -0.05578944
+v -0.01591977 0.03466593 -0.05660028
+v -0.01583886 0.03462342 -0.05727766
+v -0.01028895 0.03701144 -0.05578943
+v -0.01004185 0.03694001 -0.05727765
+v -0.01121394 0.03654712 -0.05727766
+v -0.01113740 0.03667128 -0.05641495
+v -0.01495980 0.03522041 -0.05578944
+v -0.01488982 0.03518470 -0.05660028
+v -0.01480891 0.03514558 -0.05727766
+v -0.01549992 0.03479691 -0.05727766
+v -0.01050544 0.03694000 -0.05578943
+v -0.01272059 0.03599772 -0.05727766
+v -0.01340066 0.03582594 -0.05660028
+v -0.01126423 0.03668828 -0.05578944
+v -0.01340066 0.03589736 -0.05578944
+v -0.01340066 0.03574600 -0.05727766
+f 1 2 3
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+f 1 6 13
+f 1 13 19
+f 1 19 26
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+f 1 42 50
+f 1 50 56
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+f 1 7 10
+f 1 10 5
+f 1 5 2
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+f 8 15 9
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+f 12 16 17
+f 12 17 18
+f 12 18 13
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+f 14 20 21
+f 14 21 22
+f 15 23 24
+f 17 25 18
+f 18 26 19
+f 18 25 27
+f 18 27 26
+f 20 28 21
+f 21 29 22
+f 21 28 30
+f 21 30 29
+f 22 24 23
+f 22 29 24
+f 25 31 27
+f 26 27 32
+f 27 33 34
+f 27 34 35
+f 27 35 32
+f 27 31 33
+f 28 36 30
+f 29 30 37
+f 30 36 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 37
+f 32 35 42
+f 34 43 35
+f 35 43 44
+f 35 44 42
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 42 44 50
+f 43 51 44
+f 44 51 52
+f 44 52 50
+f 47 53 48
+f 48 53 54
+f 48 54 49
+f 49 54 55
+f 50 52 56
+f 51 57 52
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+f 52 58 59
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+f 53 60 61
+f 53 61 54
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+f 54 62 63
+f 54 63 55
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+f 58 65 66
+f 58 66 59
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+f 59 67 64
+f 60 68 61
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+f 61 66 62
+f 62 66 69
+f 65 69 66
+f 66 68 67
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa17bf5cd31292358605e259288386b8c74dd57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02882427 -0.03887034 -0.05733957
+v -0.02882427 -0.03887034 -0.05633957
+v -0.02882427 -0.02366995 -0.05733957
+v -0.02882427 -0.02366995 -0.05633957
+v 0.00028168 -0.03887034 -0.05733957
+v 0.00028168 -0.03887034 -0.05633957
+v 0.00028168 -0.02366995 -0.05733957
+v 0.00028168 -0.02366995 -0.05633957
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2da6ec54bc0846178e9644e8d574adb9a217a60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.04782997 -0.00002649 0.05454674
+v 0.04782508 0.00102803 0.05454674
+v 0.04416988 -0.00002649 0.05454674
+v 0.04330091 -0.00002631 0.00410086
+v 0.04330091 0.00003279 0.00410086
+v 0.04773703 0.00308323 0.05454675
+v 0.04217925 0.01338944 0.05454679
+v 0.04217763 0.01338944 0.05453648
+v 0.04361720 -0.00002648 0.05044260
+v 0.03804963 -0.00002610 -0.05079976
+v 0.03805126 0.00065153 -0.05079976
+v 0.04318027 0.00084175 0.00328622
+v 0.03805126 0.00102711 -0.05079976
+v 0.04140321 0.00102698 -0.01541959
+v 0.04760010 0.00512793 0.05454676
+v 0.04326179 0.00140380 0.00455460
+v 0.04321614 0.00310180 0.00520425
+v 0.04327972 0.00380044 0.00640043
+v 0.04611324 0.01338944 0.05454679
+v 0.04193471 0.01338945 0.05250503
+v 0.04338895 -0.00002647 0.04865864
+v 0.03352873 -0.00002610 -0.05079976
+v 0.04302213 0.00308342 0.00310062
+v 0.04148310 0.00308348 -0.01335720
+v 0.03794039 0.00308362 -0.05079975
+v 0.04759683 0.00516732 0.05454676
+v 0.04304821 0.00513993 0.00515270
+v 0.04322592 0.00521740 0.00714290
+v 0.04126952 0.00438358 -0.01471836
+v 0.04611975 0.01336448 0.05454679
+v 0.04327972 0.01224311 0.02079589
+v 0.04334167 0.01248606 0.02216738
+v 0.04305799 0.01324904 0.02153836
+v 0.04307267 0.01338956 0.02213645
+v 0.04192982 0.01338945 0.05246379
+v 0.04332701 -0.00002647 0.04813273
+v 0.03117617 0.01338983 -0.05079971
+v 0.03355971 -0.00002610 -0.05041822
+v 0.03777573 0.00476455 -0.05079974
+v 0.04731316 0.00736829 0.05454677
+v 0.04327972 0.00595543 0.00844220
+v 0.04334330 0.00644657 0.00981368
+v 0.03773824 0.00514014 -0.05079974
+v 0.04132333 0.00509797 -0.01325407
+v 0.04658603 0.01130797 0.05454678
+v 0.04263411 0.01338958 0.01752703
+v 0.04283138 0.01338957 0.01956878
+v 0.04659091 0.01128433 0.05454678
+v 0.04700013 0.00925146 0.05454677
+v 0.04323896 0.00996731 0.01545432
+v 0.04322429 0.01195027 0.01956877
+v 0.04127605 0.00839678 -0.00864463
+v 0.03719697 0.00856897 -0.05079973
+v 0.03701600 0.00932276 -0.05079973
+v 0.03695568 0.00957359 -0.05079972
+v 0.03652201 0.01130836 -0.05079972
+v 0.04123040 0.01231016 0.00007927
+v 0.04169994 0.01338945 0.05042203
+v 0.04326994 -0.00002646 0.04762745
+v 0.03187721 0.01338983 -0.05079971
+v 0.03120715 0.01338983 -0.05041817
+v 0.03740076 -0.00002625 -0.01130513
+v 0.04341341 0.00688387 0.01132955
+v 0.04329765 0.00821679 0.01237105
+v 0.04118475 0.00575459 -0.01386247
+v 0.04125159 0.00626674 -0.01249099
+v 0.04201132 0.00719516 -0.00306589
+v 0.04220533 0.00719515 -0.00101382
+v 0.03749369 0.00681975 -0.05079973
+v 0.04222653 0.01338959 0.01339195
+v 0.04317375 0.00923585 0.01319600
+v 0.04121246 0.00806454 -0.01001612
+v 0.03743499 0.00721241 -0.05079973
+v 0.03586988 0.01336487 -0.05079971
+v 0.04083424 0.01338948 0.04234780
+v 0.04247272 -0.00002644 0.04015131
+v 0.03586010 0.01338983 -0.05078940
+v 0.04060109 0.01338949 0.04015136
+v 0.04226891 -0.00002643 0.03809924
+v 0.04237325 -0.00002643 0.03915106
+v 0.04130865 0.00663706 -0.01130511
+f 1 2 6
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+f 1 19 7
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+f 75 78 76
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db531aaa94c09f91fc2fbaa8d0df60f5145b1c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01206130 -0.02957092 -0.05722295
+v 0.01206130 -0.03309599 -0.05080357
+v 0.01206130 -0.03676209 -0.05722298
+v 0.00927897 -0.03014788 -0.05722295
+v 0.00028168 -0.03516840 -0.05080358
+v 0.01206130 -0.03747044 -0.05080359
+v 0.01206130 -0.03712600 -0.05397652
+v 0.01182146 -0.03684772 -0.05722298
+v 0.00028168 -0.03203251 -0.05722296
+v 0.00028168 -0.03950394 -0.05080360
+v 0.01206130 -0.03729335 -0.05248338
+v 0.01134064 -0.03770687 -0.05080359
+v 0.01134064 -0.03752395 -0.05248338
+v 0.01150899 -0.03694599 -0.05722298
+v 0.00028168 -0.03877516 -0.05722298
+v 0.00028168 -0.03932394 -0.05248338
+v 0.00065296 -0.03950684 -0.05080360
+v 0.00927897 -0.03831984 -0.05080359
+v 0.01079063 -0.03716977 -0.05722298
+v 0.00103232 -0.03902716 -0.05513660
+v 0.00028168 -0.03902328 -0.05511335
+v 0.00103232 -0.03878099 -0.05722298
+v 0.00028168 -0.03926069 -0.05305148
+v 0.00103232 -0.03932976 -0.05248338
+v 0.00103232 -0.03950976 -0.05080360
+v 0.00711008 -0.03881410 -0.05080359
+v 0.00927897 -0.03813205 -0.05248338
+v 0.00927897 -0.03760176 -0.05722298
+v 0.00103232 -0.03914685 -0.05410724
+v 0.00028168 -0.03914393 -0.05408398
+v 0.00028168 -0.03910013 -0.05445853
+v 0.00242636 -0.03910986 -0.05379554
+v 0.00309398 -0.03864673 -0.05722298
+v 0.00271463 -0.03940664 -0.05080359
+v 0.00585901 -0.03902717 -0.05080359
+v 0.00721616 -0.03806685 -0.05722298
+v 0.00721616 -0.03860199 -0.05248338
+v 0.00310666 -0.03896490 -0.05450503
+v 0.00380196 -0.03904759 -0.05325132
+v 0.00310666 -0.03919161 -0.05253240
+v 0.00309629 -0.03938231 -0.05080359
+v 0.00515565 -0.03840154 -0.05722298
+v 0.00491927 -0.03917117 -0.05080359
+v 0.00580943 -0.03901939 -0.05094248
+v 0.00443499 -0.03912448 -0.05187884
+v 0.00513604 -0.03894351 -0.05253240
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 19
+f 1 19 28
+f 1 28 36
+f 1 36 42
+f 1 42 33
+f 1 33 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 25
+f 2 25 34
+f 2 34 41
+f 2 41 43
+f 2 43 35
+f 2 35 26
+f 2 26 18
+f 2 18 12
+f 2 12 6
+f 3 7 8
+f 4 9 5
+f 5 9 15
+f 5 15 21
+f 5 21 31
+f 5 31 30
+f 5 30 23
+f 5 23 16
+f 5 16 10
+f 6 12 11
+f 7 11 8
+f 8 11 13
+f 8 13 14
+f 10 16 17
+f 11 12 13
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 22 20
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 20 22 32
+f 20 32 29
+f 22 33 32
+f 23 30 29
+f 23 29 24
+f 24 29 32
+f 24 32 25
+f 25 32 34
+f 26 35 36
+f 26 36 37
+f 26 37 28
+f 26 28 27
+f 28 37 36
+f 32 33 38
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+f 32 39 40
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+f 33 42 39
+f 33 39 38
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+f 39 41 40
+f 41 45 43
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+f 42 46 45
+f 43 45 44
+f 44 45 46
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77080d0b90d95cd296d01a19b525efcd10fffe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_16.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1673fe8da50cfc9ba934580aa9f44e9e7a3958ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9294bd08d676e5096e9a5f20bb12ef3d8ad052d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_18.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad48f3929960f86b7f0f5c2cf84c59a32f0fbd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_19.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a420a877b9a078a774380211d29cc76250f5375f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdd8363523d143f62f6e166879f4311be7d65af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_20.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925472a1cbb87269cc9393c722d3ff7a47e5b618
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_21.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8d571ae0a825a0dfd0adb57978082f73c8de51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.04449414 0.02550891 0.06074609
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+v -0.04360190 0.02726590 0.05909295
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fe9ffd71913e71f392e09608f76bc6a8a16f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1e632b5ca571a8db9e51c2621f17bc17c60222
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfd2922f25e07f515ce50349f0b7f8e4ed3e8b4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_25.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5687ea3da5c5a271b29f22877bdeb7badc91f5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_26.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22feed42d56060880ecf4ca87ba22be5f19baca4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_27.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2327617106d9d8286ee43eb55c8672a23549f51a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11fe8dc1581545a75ab4afa7bb815be6bf655cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_29.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+f 22 27 28
+f 22 28 23
+f 24 25 29
+f 24 29 30
+f 24 30 26
+f 25 31 32
+f 25 32 29
+f 27 33 28
+f 27 34 33
+f 29 32 30
+f 31 35 32
+f 31 36 37
+f 31 37 35
+f 33 34 38
+f 34 39 38
+f 35 37 40
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 44
+f 37 44 40
+f 38 39 45
+f 39 46 45
+f 42 47 48
+f 42 48 43
+f 43 48 44
+f 45 46 49
+f 45 49 50
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+f 47 54 48
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+f 51 55 56
+f 51 56 57
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+f 52 59 53
+f 53 59 57
+f 53 57 54
+f 57 59 58
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62bcc0c1e755cb3e5515662959c4beab227add7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02247471 0.02525773 -0.05599025
+v 0.02247471 0.02629091 -0.05079966
+v 0.02247471 0.03114835 -0.05599023
+v 0.02933459 0.01584677 -0.05599028
+v 0.02247471 0.03176701 -0.05079964
+v 0.03009328 0.01584675 -0.05079970
+v 0.02273288 0.03095824 -0.05599023
+v 0.03442500 0.01584677 -0.05599028
+v 0.02315424 0.03124339 -0.05079965
+v 0.02277672 0.03092550 -0.05599023
+v 0.03491578 0.01584675 -0.05079970
+v 0.03370771 0.01747993 -0.05599028
+v 0.03457114 0.01584676 -0.05454122
+v 0.02334300 0.03108600 -0.05079965
+v 0.02332352 0.03047046 -0.05599023
+v 0.03489994 0.01584675 -0.05098312
+v 0.03486341 0.01597921 -0.05079970
+v 0.03383802 0.01747992 -0.05454122
+v 0.03481226 0.01584675 -0.05198913
+v 0.03476598 0.01584675 -0.05248349
+v 0.03309029 0.01870013 -0.05599027
+v 0.02418572 0.03037226 -0.05079965
+v 0.02391293 0.03015099 -0.05454117
+v 0.02367911 0.03017281 -0.05599023
+v 0.03401582 0.01747991 -0.05248349
+v 0.03415952 0.01747991 -0.05079970
+v 0.03315483 0.01882479 -0.05454121
+v 0.03292467 0.01900401 -0.05599027
+v 0.03259708 0.01985331 -0.05454121
+v 0.02439883 0.03018370 -0.05079965
+v 0.02510394 0.02912246 -0.05454117
+v 0.02500895 0.02903521 -0.05599023
+v 0.02465579 0.02934065 -0.05599023
+v 0.03324495 0.01899308 -0.05248348
+v 0.03345685 0.01885283 -0.05079969
+v 0.03268842 0.02002161 -0.05248348
+v 0.03276392 0.02015719 -0.05079969
+v 0.03252645 0.01972865 -0.05599027
+v 0.03146087 0.02148961 -0.05599026
+v 0.02533776 0.02934375 -0.05079965
+v 0.02523303 0.02924401 -0.05248344
+v 0.02636924 0.02836198 -0.05079966
+v 0.02626451 0.02825756 -0.05248345
+v 0.02604043 0.02804097 -0.05599024
+v 0.03331558 0.01912866 -0.05079969
+v 0.03286500 0.01997018 -0.05079969
+v 0.03144626 0.02174984 -0.05441317
+v 0.03172026 0.02159244 -0.05248347
+v 0.03187005 0.02159244 -0.05079968
+v 0.03123801 0.02183246 -0.05599026
+v 0.02677233 0.02731634 -0.05599024
+v 0.02655556 0.02817341 -0.05079966
+v 0.02707556 0.02701245 -0.05599024
+v 0.03087267 0.02253993 -0.05501372
+v 0.03093965 0.02263967 -0.05364139
+v 0.03106508 0.02282666 -0.05079968
+v 0.03082274 0.02246514 -0.05599026
+v 0.02738367 0.02733345 -0.05079966
+v 0.02728503 0.02722904 -0.05248345
+v 0.02841393 0.02621299 -0.05079966
+v 0.02831651 0.02610546 -0.05248345
+v 0.02810704 0.02587330 -0.05599024
+v 0.02997515 0.02359496 -0.05599025
+v 0.03025038 0.02345469 -0.05441316
+v 0.03032466 0.02385362 -0.05079967
+v 0.03046227 0.02366662 -0.05079967
+v 0.02857590 0.02602598 -0.05079966
+v 0.02909225 0.02494137 -0.05454119
+v 0.02900943 0.02484476 -0.05599025
+v 0.02874152 0.02515020 -0.05599025
+v 0.02963904 0.02403130 -0.05599025
+v 0.03023454 0.02374142 -0.05248346
+v 0.02920428 0.02507694 -0.05248346
+v 0.02929318 0.02518447 -0.05079967
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 10
+f 1 10 15
+f 1 15 24
+f 1 24 33
+f 1 33 32
+f 1 32 44
+f 1 44 51
+f 1 51 53
+f 1 53 62
+f 1 62 70
+f 1 70 69
+f 1 69 71
+f 1 71 63
+f 1 63 57
+f 1 57 50
+f 1 50 39
+f 1 39 38
+f 1 38 28
+f 1 28 21
+f 1 21 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 17
+f 2 17 26
+f 2 26 35
+f 2 35 45
+f 2 45 46
+f 2 46 37
+f 2 37 49
+f 2 49 56
+f 2 56 66
+f 2 66 65
+f 2 65 74
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+f 2 42 40
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+f 2 22 14
+f 2 14 9
+f 2 9 5
+f 3 5 7
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+f 4 20 19
+f 4 19 16
+f 4 16 11
+f 4 11 6
+f 5 9 10
+f 5 10 7
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 12 18 17
+f 12 17 19
+f 12 19 20
+f 12 20 13
+f 12 21 18
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 16 19 17
+f 17 18 25
+f 17 25 26
+f 18 21 27
+f 18 27 25
+f 21 28 29
+f 21 29 27
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 24
+f 25 27 34
+f 25 34 26
+f 26 34 35
+f 27 29 36
+f 27 36 37
+f 27 37 34
+f 28 38 29
+f 29 38 39
+f 29 39 36
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 34 45 35
+f 34 37 46
+f 34 46 45
+f 36 39 37
+f 37 39 47
+f 37 47 48
+f 37 48 49
+f 39 50 47
+f 40 42 41
+f 42 51 43
+f 42 52 53
+f 42 53 51
+f 43 51 44
+f 47 50 54
+f 47 54 55
+f 47 55 48
+f 48 55 49
+f 49 55 56
+f 50 57 54
+f 52 58 59
+f 52 59 53
+f 53 60 61
+f 53 61 62
+f 53 59 60
+f 54 57 63
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 56
+f 58 60 59
+f 60 67 68
+f 60 68 61
+f 61 68 69
+f 61 69 70
+f 61 70 62
+f 63 71 68
+f 63 68 72
+f 63 72 64
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 67 74 73
+f 67 73 68
+f 68 73 72
+f 68 71 69
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca609ae810381e8b5b1e84ad1c1df2d5151a1f69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_30.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01913520 -0.02443635 -0.05722344
+v 0.02933572 -0.02443635 -0.05722344
+v 0.02333350 -0.02443635 -0.05600576
+v 0.03270519 -0.00002608 -0.05600567
+v 0.02884095 -0.00002608 -0.05722335
+v 0.02967158 -0.02399430 -0.05722344
+v 0.03009051 -0.02360482 -0.05600576
+v 0.02945850 -0.02443635 -0.05600576
+v 0.03757883 -0.00002608 -0.05600567
+v 0.03747410 -0.00002608 -0.05722335
+v 0.02992980 -0.02365262 -0.05722344
+v 0.03052749 -0.02284261 -0.05722343
+v 0.03087238 -0.02253915 -0.05600575
+v 0.03758064 -0.00103202 -0.05600567
+v 0.03747591 -0.00103202 -0.05722335
+v 0.03081460 -0.02244835 -0.05722343
+v 0.03103671 -0.02227631 -0.05600575
+v 0.03745785 -0.00308931 -0.05600568
+v 0.03735492 -0.00308931 -0.05722336
+v 0.03743979 -0.00165327 -0.05722336
+v 0.03125700 -0.02173153 -0.05722343
+v 0.03144841 -0.02142090 -0.05722343
+v 0.03147911 -0.02155710 -0.05600575
+v 0.03725561 -0.00511553 -0.05600569
+v 0.03718880 -0.00486225 -0.05722337
+v 0.03732242 -0.00348117 -0.05722336
+v 0.03216708 -0.02016407 -0.05722342
+v 0.03180594 -0.02100037 -0.05600575
+v 0.03711476 -0.00615971 -0.05600569
+v 0.03714546 -0.00521111 -0.05722337
+v 0.03251017 -0.01955955 -0.05722342
+v 0.03253726 -0.01971963 -0.05600574
+v 0.03704795 -0.00655396 -0.05600569
+v 0.03684391 -0.00710114 -0.05722338
+v 0.03288034 -0.01885944 -0.05722342
+v 0.03269436 -0.01942335 -0.05600574
+v 0.03693239 -0.00718955 -0.05600570
+v 0.03660374 -0.00878567 -0.05600570
+v 0.03639247 -0.00925878 -0.05722338
+v 0.03308078 -0.01869219 -0.05600574
+v 0.03302300 -0.01857749 -0.05722342
+v 0.03650082 -0.00925878 -0.05600570
+v 0.03624079 -0.00988003 -0.05722339
+v 0.03327399 -0.01830032 -0.05600574
+v 0.03353402 -0.01753810 -0.05722341
+v 0.03612703 -0.01072110 -0.05600571
+v 0.03587423 -0.01131368 -0.05722339
+v 0.03366945 -0.01748315 -0.05600573
+v 0.03446938 -0.01542586 -0.05722341
+v 0.03597355 -0.01131368 -0.05600571
+v 0.03572436 -0.01182979 -0.05722339
+v 0.03458675 -0.01539002 -0.05600573
+v 0.03496776 -0.01416664 -0.05722340
+v 0.03556545 -0.01264697 -0.05600572
+v 0.03532349 -0.01313680 -0.05722340
+v 0.03501471 -0.01429567 -0.05600572
+v 0.03521695 -0.01344742 -0.05722340
+v 0.03511583 -0.01401372 -0.05600572
+v 0.03535960 -0.01330406 -0.05600572
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 19
+f 1 19 26
+f 1 26 25
+f 1 25 30
+f 1 30 34
+f 1 34 39
+f 1 39 43
+f 1 43 47
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+f 1 51 55
+f 1 55 57
+f 1 57 53
+f 1 53 49
+f 1 49 45
+f 1 45 41
+f 1 41 35
+f 1 35 31
+f 1 31 27
+f 1 27 22
+f 1 22 21
+f 1 21 16
+f 1 16 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
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+f 3 36 40
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+f 3 42 38
+f 3 38 37
+f 3 37 33
+f 3 33 29
+f 3 29 24
+f 3 24 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 20
+f 14 20 15
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+f 17 21 22
+f 17 22 23
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 22 27 28
+f 22 28 23
+f 24 29 30
+f 24 30 25
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
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+f 35 40 36
+f 35 41 40
+f 38 42 39
+f 39 42 43
+f 40 41 44
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+f 43 46 47
+f 44 45 48
+f 45 49 48
+f 46 50 47
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+f 49 53 52
+f 50 54 51
+f 51 54 55
+f 52 53 56
+f 53 57 58
+f 53 58 56
+f 54 59 55
+f 55 59 57
+f 57 59 58
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5880af7097c8b995d6837069ba3955d5413d35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03685424 0.00102707 -0.05080433
+v -0.03619244 0.00102709 -0.05727730
+v -0.03619434 0.00007754 -0.05727730
+v -0.03685042 0.00025215 -0.05080433
+v -0.03672532 0.00308383 -0.05080432
+v -0.03614659 0.00170379 -0.05727729
+v -0.03684947 0.00007752 -0.05080433
+v -0.02919044 0.00007754 -0.05727730
+v -0.03656679 0.00513938 -0.05080431
+v -0.03605301 0.00308385 -0.05727729
+v -0.03281558 0.00007752 -0.05080433
+v -0.02832712 0.00513940 -0.05727728
+v -0.03628029 0.00719493 -0.05080430
+v -0.03584959 0.00513940 -0.05727728
+v -0.02709901 0.01246418 -0.05727725
+v -0.03074516 0.01246416 -0.05080428
+v -0.03551821 0.00719495 -0.05727727
+v -0.03585437 0.00925168 -0.05080430
+v -0.03543131 0.00761818 -0.05727727
+v -0.03421656 0.01246418 -0.05727725
+v -0.03505504 0.01246416 -0.05080428
+v -0.03577797 0.00957548 -0.05080429
+v -0.03495381 0.00984957 -0.05727726
+v -0.03510756 0.00915954 -0.05727727
+v -0.03518205 0.00882119 -0.05727727
+v -0.03504167 0.01230529 -0.05138542
+v -0.03496336 0.01246416 -0.05155082
+v -0.03458041 0.01130846 -0.05727726
+v -0.03500060 0.01246416 -0.05125614
+v -0.03507605 0.01240716 -0.05080428
+v -0.03532912 0.01144063 -0.05080429
+v -0.03480292 0.01044137 -0.05727726
+v -0.03526036 0.01171349 -0.05080429
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 16
+f 1 16 21
+f 1 21 30
+f 1 30 33
+f 1 33 31
+f 1 31 22
+f 1 22 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
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+f 2 17 19
+f 2 19 25
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+f 2 28 20
+f 2 20 15
+f 2 15 12
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+f 3 8 11
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+f 5 9 10
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+f 9 13 14
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+f 11 15 16
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+f 15 20 27
+f 15 27 29
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+f 15 21 16
+f 18 22 23
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+f 18 24 25
+f 18 25 19
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+f 20 28 26
+f 21 29 30
+f 22 31 23
+f 23 31 26
+f 23 26 32
+f 26 33 30
+f 26 30 29
+f 26 29 27
+f 26 28 32
+f 26 31 33
+
diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b0cd15b5ad5cd3e3228afdb16e19065b655c6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02247471 0.01969977 -0.05716750
+v 0.02247471 0.02525681 -0.05599025
+v 0.02247471 0.03100917 -0.05716746
+v 0.02999835 -0.00002608 -0.05716757
+v 0.02247471 0.03114954 -0.05599023
+v 0.03272656 -0.00002608 -0.05599034
+v 0.02247471 0.03110683 -0.05635333
+v 0.02276453 0.03091457 -0.05616884
+v 0.02308985 0.03052702 -0.05716746
+v 0.03747911 -0.00002608 -0.05716757
+v 0.02277784 0.03092372 -0.05599023
+v 0.03758115 -0.00002608 -0.05599034
+v 0.02332348 0.03046903 -0.05599023
+v 0.02358965 0.03011199 -0.05716746
+v 0.03747911 0.00102674 -0.05716757
+v 0.03757967 0.00102674 -0.05599034
+v 0.02367837 0.03017302 -0.05599023
+v 0.02493675 0.02896762 -0.05716746
+v 0.03736378 0.00308355 -0.05716756
+v 0.03754566 0.00163707 -0.05599033
+v 0.02465579 0.02933992 -0.05599023
+v 0.02500921 0.02903475 -0.05599023
+v 0.02522066 0.02869602 -0.05716746
+v 0.03719669 0.00492064 -0.05716755
+v 0.03746433 0.00308355 -0.05599033
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+v 0.02596741 0.02797584 -0.05716747
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+v 0.02603986 0.02803992 -0.05599024
+v 0.02626019 0.02769203 -0.05716747
+v 0.03707247 0.00651665 -0.05599032
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+v 0.03695861 0.00721853 -0.05599031
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+v 0.02901058 0.02484485 -0.05599025
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+v 0.03593979 0.01131079 -0.05716753
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+v 0.03530690 0.01334013 -0.05716752
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+v 0.03064011 0.02270564 -0.05599026
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff5ad165c8f4dec7fa55c05395816ceeabfa5b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b64bd09c9d139144609e11305731e3e63b928508
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d00aeb985a415823137f1e2713e2b8865e077d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2ff46577911a6885e175c5e95f11f99da6afa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162cdea4cf1a842c5b2a1384ef816f2ecc04aac5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d04e6077617425fa9988ccaa6eb72ad097f6cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a544c96473c532928f4e49356b3ffee26eee54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_39.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d7259a6cffe1e618798920e3d83f9959791bdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71dd0eaaeaef51c18f519e694ec8ce2e1c39713c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_40.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f020ee743d3f0ec479339a4cba0f12aaf0f15514
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2b0c3c8562ea6cb136718058e5aa965305e1368
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_43.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf54a4aee767ee7d02d31486058fa70f564befe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_43.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_44.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e4f0e7f79b29391dddc420880935e1e4955538
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_44.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_45.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b18a930a77e7add366a46485030aa8fd71e00e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_45.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1aa33fc58966030d6448e0295fca90953fd91c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25cbbaa6c9d15b388e2dbb7d9005abcfb979871b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_6.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdcbcda1260ce0e513a79fef76a0ffe3cb1da407
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb4f9cb47745c02966593a7bcd7be51910a02fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/mjcf/mesh/red_cup_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/textures/material_0.png b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/video.mp4 b/dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/video.mp4
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