diff --git a/.gitattributes b/.gitattributes
index ab96756ea16ed59f1bb1be9bbc16bdd76f73631b..c1cc62d1bc969358d168bf0e914f60c09479622e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4768,3 +4768,6 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mesh/mug_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mug_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.urdf b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95aece0887849db93fa1ab77662f681bb6574f76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.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>0.40</mu1>
+            <mu2>0.30</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>0.167263</scale>
+         <version>v0.1.7</version>
+         <category>cup</category>
+         <description>elegant blue cup with golden floral design and handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260119233712</generate_time>
+         <gs_model>mesh/cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.175828456878662</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.usd b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.usd
new file mode 100644
index 0000000000000000000000000000000000000000..38d53f743b9038b5931fb654a5a418c52f373c37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213a570319f06d9801eaa80c0f8a74fe91b9d602cbd4e9a973f8ee5e2ba1354d
+size 750449
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.glb b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e01820161f5b842ba02b110948e0c199b3e2bdff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fc4a8700969ae5a378abbb7321d67ff67df57f190eb93d5d3d70113ca027a42
+size 2290508
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c20b7862fd2d23ca4f046f6352a4478a155049
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.obj
@@ -0,0 +1,45894 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df08ecc05f362eb2b954219974a9dbbf35d401c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_gs.ply b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3da75d44dc9b7f1132ce61821e8ead8004c62a94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d98d86ad10add87eaf431a1f5ed05b6c12d0495ef318f3497f31d758e624fe
+size 3561737
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/material.mtl b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/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/a73ea2cd1d11512e91d1abec172d0f00/mesh/material_0.png b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..342cdff5547baf5c9cb4333aa1a6c359b85b77e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a6b46f6f96e198da70369a64f11f77600832df98517e9097bf42421703cb8f
+size 1787295
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/a73ea2cd1d11512e91d1abec172d0f00.xml b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/a73ea2cd1d11512e91d1abec172d0f00.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1f3ac8fa7094fcbfa55d448039f63dce0808f455
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/a73ea2cd1d11512e91d1abec172d0f00.xml
@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cup">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/cup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/cup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/cup_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/cup_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/cup_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/cup_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/cup_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/cup_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/cup_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/cup_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/cup_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/cup_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/cup_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/cup_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/cup_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/cup_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/cup_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/cup_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/cup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_29" file="mesh/cup_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/cup_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/cup_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/cup_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/cup_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/cup_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/cup_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/cup_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/cup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/cup_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/cup_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/cup_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/cup_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/cup_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/cup_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/cup_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/cup_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/cup_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/cup_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/cup_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cup">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" 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/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907cd40efad34dc133ffb87830953e0cdea62a31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup.obj
@@ -0,0 +1,45894 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf08d55f24e88dca4fbc9b71e4e9d36987b08455
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision.obj
@@ -0,0 +1,16130 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_0.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101bf2ba4f7d237dcec55f6f4af7bcfef46862a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_1.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15463f909493033b3c4809ca34d12bced351ea68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_10.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cea284f73193052f6b38fc6cce116586934227a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_10.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_11.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c784c4c845687d0d02adb0d78fd2c282850343b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_12.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f24992a294e2f090fe91993dc16f113fdee74f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_12.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_13.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e611a940c4742dc13fe0db671f9c2f8b6207b61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_13.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04040547 -0.02703345 -0.04547197
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_14.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a8367ebe891db4d8d528c3a655d88fcbb6dd1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_14.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.05008127 -0.00226999 -0.06014370
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_15.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cab9966f54541d01d20a29e4d8b46afd3f39b26a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_15.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_16.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc30a0af37a3cf8977697b563699cae8cd4d7c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_17.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf2d987a24cfcae46906f5231ce75154a2fa5d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04043043 -0.00227220 -0.04611157
+v 0.00783966 -0.00227219 -0.04814135
+v 0.04043043 -0.00227217 -0.05540646
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+v 0.00783966 -0.00227217 -0.05454549
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+v 0.03683760 -0.00227217 -0.05540646
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_18.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8107292115eb76e0e48ce8a7373e55cd6ce69db7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_18.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00783412 0.00458813 -0.04818655
+v -0.00996310 0.00458813 -0.04783313
+v 0.00783412 0.00458815 -0.05465302
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_19.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b3d97b5c6ce1adfdde788f9dc2de0454162a6dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_19.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.03504061 0.00458806 -0.03117394
+v -0.03470213 0.00586262 -0.03117394
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_2.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe4f08e10897f19574b8a1b46b0c20934c2029c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_20.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87aa50f3b247c8197aec9428ec9865e5b158611c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_20.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_21.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26cc4ce89b3c8a4d885130fc02dfc98afa869a45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_21.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00783412 0.01661951 -0.05543422
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_22.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944dcc82f874fc1157c54b0f2b37b0d5d80c4788
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_22.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_23.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db928cf34be3292d76b180bfce9ad021b152974e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_23.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_24.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c6b39f5743e8a0ce38f21464007dcf078f1c16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_24.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_25.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e46222c110d77067bd33ac251016cde26f4717d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_25.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_26.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917be0c369b31058f7e35afab836c61235a34a5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_27.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9264095add2cdac208006c8793536452579c72c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_27.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_28.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd37e5b37eb5359653040d79b53e8f2ead4f7e56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_28.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_29.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f36678a354c2e815badcba39c33b81c98420126
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_29.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_3.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cedf8fc8ad844517ba327da2c190c4293b1e4d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_3.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_30.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a25f0139fd7ce1bec475212a4348b29cd8f26f4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_30.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_31.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7469939d86ec6864112a737ed79989383696398
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_31.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01614773 0.00458815 -0.05378669
+v -0.01940832 0.00458815 -0.05378669
+v -0.01614773 0.00458817 -0.05887830
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_32.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c28508d46cc8c45d234117fc9f4399120f1325
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_32.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02952436 -0.01845156 -0.05510904
+v 0.02952436 -0.02930347 -0.05510908
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_33.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3003787c321466a26df37b5c7263de25fab90e56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_33.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_34.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616a5ab436cc01264c58e553e30b201f3b99c237
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_34.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_35.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0927f80167088f4768218c00f6f61a0c1ba3ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_35.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_36.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0dc08746db07b36fc6524c09fc9e6e8ded4bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.04396040 0.00458790 0.01468541
+v -0.03776595 0.00458790 0.01468541
+v -0.04360679 0.00672728 0.01468541
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_37.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8005bb246a6740ab8658959fd61462d854fa4b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_37.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.04040745 -0.03461095 -0.03581815
+v 0.04012626 -0.03481977 -0.03581815
+v 0.04040745 -0.03386097 -0.03728867
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_38.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b4c9cf8306a531cb97f42b65365aeda9f25ed1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_38.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_39.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b405053d69f04f37b07025f53a71b386f0a660
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_39.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_4.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd5cc217232a395007a3f29e937487189ceb46c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_4.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_40.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090f7ae7680667bd90892aa4d04ab21f707ac6eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_40.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_41.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06333d97e7e5eeaa7239d9e720498a608a5a8bfb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_41.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_42.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79e900fdc609dcd29f5690cc460c1c74aeb94f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_42.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_43.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd48a2d279d6e88228b72db4cb2797bd0a648845
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_43.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_44.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8208270945f0b6e7c9ec2a1b3dcb632d291c183
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_44.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_45.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2faaae967ce45fcf4f54d8fdd915c6e8b13c4349
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_45.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_46.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cba8fbf63b9c678015f21ee8c39dc1545c6bf62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_46.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_47.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c661e0f742290713d92f00fc674d4a513c608449
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_47.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_48.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f93647e705b356aa3f16f85d3ca348d18d11f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_48.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_49.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5959c7b100e3136a510141ef866d48f152073c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_49.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_5.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5271e2c49e33964d2477554836dfcec0ff1de2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_5.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_50.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a46b9ebf0800d6d205398e0bc683c3983bd434
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_50.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05854000 -0.00151828 0.02782523
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_51.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999214df3c5772b831bc60f72c9466d3e6c66107
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_51.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_52.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..284d5b4424abdb4f69ed88b67b3e6353ee7e5ec9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_52.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.04714004 -0.00152082 0.02505660
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_53.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c4769d17f1bef02fd153544e503215170329d3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_53.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_6.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54aeed7f1bbf8425f068fa29b3d2f4a73cf59bf5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_6.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_7.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee17b3b7909a8a2f72139d5810299f75ab4be29e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_8.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fa2d98287ff9ddd428b58c2c32c0faf6ca488a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_8.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_9.obj b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7685172925fd3ec6894430bd6fbc4dbc5272ab32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mjcf/mesh/cup_collision_9.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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