diff --git a/.gitattributes b/.gitattributes
index 19de27592fa04303107149bac464d016bdb9a99e..05bb7118db51a17d07ec63bc58e14b3c30420298 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4782,3 +4782,6 @@ dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.u
 dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.urdf b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..171553663a3be94305b0f6f1c0aecbe256c75f55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cup">
+   <link name="cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/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/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>0.135000</scale>
+         <version>v0.1.7</version>
+         <category>cup</category>
+         <description>plain white cylindrical cup with a curved handle</description>
+         <min_height>0.12</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.135</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260119225024</generate_time>
+         <gs_model>mesh/cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.367154121398926</ImageAestheticChecker>
+         <overall>NO</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/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.usd b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ba0370d6930925782a1c854415fe1f376ea4d39e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfdb43d1a0be7f90f1e0d0e79270665da657573af2d94794d11ec25e5beaa09
+size 607073
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.glb b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..20ebcfd96602c13442baed6885af565e61eb24aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100c2a83bc2caa4c3dc37d73a091f7ade1af5473b0783bdf6341060af17101df
+size 993408
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de5988fb4893d86aa0d494e50e821553d2a96070
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.obj
@@ -0,0 +1,36970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b0814dee463dfcc06b0b8b8e56690574414568
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_gs.ply b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3fce46764ff5470d9263c7fa347befc67a79f7df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85dbf921d8b9042151837104e0416a0afd6e9110262dac2255de36be374c3944
+size 4718249
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/material.mtl b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/material_0.png b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5314796659a4d69ba44633f59acb68fa2ec6932ad02e16587bb887a7a83d7cf2
+size 587536
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/b7e9bab886945955a2c70a0ba812570b.xml b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/b7e9bab886945955a2c70a0ba812570b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b125c9dc3ed510e784395cfcebce9fdc6fd354d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/b7e9bab886945955a2c70a0ba812570b.xml
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+    <mesh name="collision_mesh_0_27" file="mesh/cup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/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/cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cup">
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" 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/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7bc6548c7dcc74c4da2724057ad31946669c60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup.obj
@@ -0,0 +1,36970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ebfbe933ea0a634c34adfb77c9b82afb453483
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision.obj
@@ -0,0 +1,17856 @@
+# https://github.com/mikedh/trimesh
+
+o cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_0.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06828308a7a7d2273d44af572285585b9563f644
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_1.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e092f9acd3b29a48ceb6106c655212da97e13db1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_10.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83aa8d589f65b880ac0a8598b769ca1080b298b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_10.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_11.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703c78655f462bd8c455316ebea3cd92a7b45f47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_11.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_12.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69368db167c34d70240f43758aae9757e19cf933
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_13.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab1bfbea7c0a81bcb4442f60ab883a9dc981784
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_14.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ef942c806c5abf461ea9cb5dc0fd2838794ce7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_15.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d433e74e5617f0f997d17066215862731a020aa4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_16.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf312aa7819c18a6d14888d7beda7eb431a3f6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_17.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ec18dceb2c0ad4b63fbbd133b54d6656c60e54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_18.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a98acdf2e0471d83f7a816feb11d5197426957
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_18.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_19.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f58070a38e0b7017b010a455bd9963070f99b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_19.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_2.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89b34795cc0c07818990e7c88fd8bb85b3cc4f1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_20.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fa334cd58924982ed52a6d75a6fc791992cc43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_20.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_21.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0e30fcb5cf44da1f3e95877445b31b2db803bc6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_21.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_22.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95ea0cd97bf79189e0e0ba1ff146c818bc87c6c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_22.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_23.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac4b38b6321a90693194219acf17e1e9a3d0d7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_23.obj
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+
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_24.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78e986ea5e70eb8c5fc21129e303fb37358f47e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_24.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01593694 -0.05062332 -0.06289118
+v 0.01513250 -0.05117619 -0.06289118
+v 0.01593694 -0.05057056 -0.06342510
+v 0.01593694 -0.03382826 -0.06289111
+v 0.01429436 -0.05167841 -0.06289118
+v 0.01398876 -0.05181136 -0.06342510
+v 0.01508981 -0.05114875 -0.06342510
+v 0.01593694 -0.05006621 -0.06558589
+v 0.01593694 -0.04245262 -0.06673953
+v 0.01573021 -0.03389368 -0.06289111
+v 0.01403033 -0.05183457 -0.06289118
+v 0.01356857 -0.05156234 -0.06565086
+v 0.01203834 -0.05291288 -0.06289118
+v 0.01207991 -0.05284324 -0.06342510
+v 0.01467074 -0.05088286 -0.06565086
+v 0.01593694 -0.04938250 -0.06695956
+v 0.01322814 -0.05135975 -0.06679077
+v 0.01593694 -0.04365121 -0.06719664
+v 0.00446024 -0.05013373 -0.06734317
+v 0.00446024 -0.04183013 -0.06289114
+v 0.00446024 -0.04900688 -0.06683486
+v 0.01207991 -0.05234312 -0.06565086
+v 0.01084854 -0.05350373 -0.06289119
+v 0.01078338 -0.05347630 -0.06342511
+v 0.01584481 -0.04941626 -0.06700888
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+v 0.00996433 -0.05326527 -0.06582442
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+v 0.01593694 -0.04574241 -0.06764664
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+v 0.00928798 -0.05375695 -0.06519804
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+v 0.00599945 -0.05507794 -0.06289119
+v 0.00446024 -0.05513069 -0.06444552
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+
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_25.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e547db94b28648f03928d96922bbe97cdbb4a1d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_25.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01616721 -0.05158983 -0.05135169
+v 0.01614370 -0.05160540 -0.05135169
+v 0.01551601 -0.05141690 -0.05741849
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+v 0.01368703 -0.05247459 -0.05741849
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+v 0.00987743 -0.05431893 -0.05741850
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+v 0.00700700 -0.05577386 -0.05135170
+v 0.00645925 -0.05575827 -0.05316788
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+
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_26.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af407e2ef6283c87b76a23ac6cebdb6b5bdeed0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00937835 -0.04606611 -0.05741847
+v -0.00937835 -0.05453581 -0.05741850
+v -0.00937835 -0.04890896 -0.05135168
+v 0.00415891 -0.04732248 -0.05741847
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+v 0.00415891 -0.05045622 -0.05135169
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+v -0.00786376 -0.05554774 -0.05135170
+v 0.00415891 -0.05629868 -0.05135171
+v 0.00326579 -0.05643071 -0.05135171
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+v -0.00680898 -0.05582625 -0.05171696
+v -0.00686331 -0.05584172 -0.05135171
+v 0.00199502 -0.05652870 -0.05135171
+v 0.00106214 -0.05614496 -0.05741851
+v 0.00260059 -0.05601705 -0.05741851
+v -0.00573697 -0.05562096 -0.05741850
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+v 0.00106214 -0.05659678 -0.05135171
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+v -0.00334383 -0.05643793 -0.05135171
+v -0.00336636 -0.05598611 -0.05741851
+v -0.00391760 -0.05592009 -0.05741851
+f 1 2 7
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+f 24 29 30
+f 24 30 31
+f 25 32 30
+f 25 30 26
+f 30 32 31
+
diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_27.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa9ee4b6b0d3abd34565d9db716d3231510fc58
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_27.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03198952 -0.02131866 -0.05135517
+v 0.03190259 -0.02354082 -0.05135518
+v 0.03157117 -0.02131864 -0.05741897
+v 0.03195692 -0.01909451 -0.05135516
+v 0.03147555 -0.02354080 -0.05741898
+v 0.03154292 -0.02198907 -0.05741897
+v 0.03170591 -0.02576298 -0.05135518
+v 0.03154727 -0.01976691 -0.05741896
+v 0.03153423 -0.01909449 -0.05741896
+v 0.03187977 -0.01815750 -0.05135516
+v 0.03126366 -0.02576296 -0.05741898
+v 0.03138536 -0.02798712 -0.05135519
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_28.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486ca7b06e3b754d5de7a32af4af8c13d80e7b1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_29.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c4e8e260ac933ee97c001248c9a80ee726d314
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_3.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d861e7672e53b8bcac7336b0b07b04497ed650
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_3.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_30.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb67ec000747ab0036205db834cd625059671f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_30.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_31.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3f6d1cdf16c44f4ebe0a11c6f7f1b5f3fe5edb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_32.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c720ddc27cd94d2b0d45151982ff48bc1769e5f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_32.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_33.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7439ac446570e918eed06bdc365b21d216d3396a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_33.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_34.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c02be0f5140b6b2b070fe34b179b7d3090cf23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_35.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e173f50a9ad2bbe15f05293b35842be19dd0060
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_36.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab07e7a8ee85699992b58b99e78b73b386566b7d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_4.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03bfc14a9b01393ce8b5da40b84b954fb660adc2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_4.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_5.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb83c53be4ef83b1b328451e0f0c22a2815ed4fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_5.obj
@@ -0,0 +1,1033 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_6.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f64cf371f77380da9dd2d0161325722f7081228
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_7.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f39dee4b4cd08f07b20a50f976e1a9bfbf3cbc5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_8.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160b51fe2583ebe81c45df504efacac252f3fa33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_8.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_9.obj b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2c5ab42ddb77480ff7cc1b8bbb6e3693dde79f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mjcf/mesh/cup_collision_9.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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