diff --git a/.gitattributes b/.gitattributes
index f5125ce4645a7a73fd33d277ef1a5f7763189b58..75d94ca24d67a05d1082abe18e284720a47cbf02 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4645,3 +4645,6 @@ dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener
 dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.urdf b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9770a25ae0476e37433fd5db3142afb640977
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_cup">
+   <link name="red_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.149078</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>solid red cup with curved handle and tapered base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120013243</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.746389389038086</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/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.usd b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1655f7ad299fc974586634cce2e7e633ac69abdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/16c7ab2df035574280dbc50018fcc77e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4129cf4a37c4749412ba0de754348b64b8deb8cd0b296f1350d0156c54b0717d
+size 314103
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/material.mtl b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/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/16c7ab2df035574280dbc50018fcc77e/mesh/material_0.png b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ccae5faa62bedb6e197ef874c376d26ec7ac460
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459c0b27c0c63287e02bae5ecdcb2be5b124731875f73d2bcb0f5510de464ffc
+size 1326732
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8ad78b4b2df038d8190745d7a3725b3be0f6ddf1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42e328d1bcf4bd0828a300e76ffe99bed3cf8fc4f253ef074d9bc09be47b182
+size 1538980
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1341fa9358ae9d5c6f69920d0850d96bf0436dbd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup.obj
@@ -0,0 +1,19314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c9a2934068fc0f37c42cedd96623be84c47591
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_gs.ply b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cf49d2d677c528e79182c62523ddc4d2919ec9c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b769c300ce3ee47741c93f6af950f3c2abf2afa8bda04382bf653271fe1000
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/16c7ab2df035574280dbc50018fcc77e.xml b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/16c7ab2df035574280dbc50018fcc77e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e05ee7f20ee9218f226e9953db154dc17649e9b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/16c7ab2df035574280dbc50018fcc77e.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="red_cup">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_5" file="mesh/red_cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/red_cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/red_cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/red_cup_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_27" file="mesh/red_cup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/red_cup_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/red_cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_48" file="mesh/red_cup_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="red_cup">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_48" 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/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ccae5faa62bedb6e197ef874c376d26ec7ac460
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459c0b27c0c63287e02bae5ecdcb2be5b124731875f73d2bcb0f5510de464ffc
+size 1326732
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98c99f091f4592eee101c04ea215489b4340c60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup.obj
@@ -0,0 +1,19314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45965b40986e5d0866ddf9e4b8a31573401f9736
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,28062 @@
+# https://github.com/mikedh/trimesh
+
+o red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6abd013444743bb1aa9634386a884bab90990e30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2c594f6d6a4351ceb5b4604dcad9fa57a2a189
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57c79518514704e9d45a196fc9fd339e67976fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0526ee297a2a27ffb1fadabe645c29d82a5ea7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa13402e58d79c91acb04b0ef13a7d4d50954af8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8cbc0fd49d6e16e048a18b4edaf88a5b649f9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c48a3e5ad41e0cf29423c874df307d4777a9662
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f649290e2fe3552624d95470a0d55d951c809ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46aab970159e011de13bd4e826b3d74736511878
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_16.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84227cd17b0fa0370b23e37e709fe54a114cd327
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25f052b4af61dcf8c136b7ae0816e1f2076021f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_18.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae34987f6cbe4704091d7d8d3a4be3cd25ebbadd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_19.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514d7896a991f10184f884e29f7626b475089781
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa00944d982e3d81cce30b09ef390d82cc35496
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c251b1746f52a51fc2a0644297b910fa8a86cb86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_21.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f6db1e89b2128470b83d9c9148be8519ea1873f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,640 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e97410178262f89e0352dfe418e7389f085ab4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d400650affb2de4fb4882962f644ad4c7d7c86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de04e3b64589ece3ebdefb3025d8a02228f0772
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_25.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81149e4a74ec9d0cac1ec7773df5ac50b3c56794
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb22a3f2589bcf1466ae81f1bef53e17215af171
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236d94ebdf11bd4c0378d36d1e68f55037d5332a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79b81be2d85bc8958f4a20ea715a0aac6fe9e87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_29.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e6f9e7f9a9411d889ad4c77c656a130f94eb20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9966ba52ff88c9a465b32ca848cb87ea3f903bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194544539286dc4b9cab05ea887ea91c6b2a3d73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.04240798 -0.01866416 -0.04459570
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+v 0.04239696 -0.01827760 -0.04459570
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+
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f492d0a882bb7bddfbedad50b7095acd977fc8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02473374 -0.03711907 -0.05538672
+v 0.02473374 -0.04242465 -0.05382042
+v 0.02473374 -0.05277990 -0.05538677
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5050800842434b6f0b28a620ec9a96eb5a20a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5390df4e2f33f84ceb1d950734b06947a01afb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04516096 -0.01412510 -0.03259974
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+
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f139f7e8e41e455e89a68bbd972c355effd9fdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
+v 0.02501358 0.01042245 -0.03259965
+v 0.03538081 0.01042245 -0.03259965
+v 0.03756299 -0.01412510 -0.03259974
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd483b1d080a02565301e484fd53199541064e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03dcdc796c5064b4b4a438e3717f4c8c3f36d5fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1283850725262115fb087eed9c8250c5720a7c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcdadf34515b83fabc782c6555629d19308f00d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a95c965f110cb081f18ea52a006fe4e13d757b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed78173c62e0d30de2ee813e76acbfd33322c111
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_40.obj
@@ -0,0 +1,1594 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67c9ecc3904033284cd2b5cd21f56e1a3dd2dfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8e4290ce956435fcd53097862809bfa4e64e0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_43.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2106a1df084b8b7259441daa48e145be61f164a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_43.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_44.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98fea5db4bca5ff4f0a836205c27350c118d8559
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_44.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_45.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5142523924c9e85023c64a7b0d5d9a427c6694a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_45.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_46.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b979b371467614cf56f6d1da48a7b12f2fc3b82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_46.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_47.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ed9071813bff20125e92161224814df2acaf3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_48.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a757d408f31352d91ea389a9cf986b1460a0fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_48.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aef662dc70c230b910c0d6ed50c4c7c8b75c53b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d90c2a41fec096409e8c905ebb0b3b5e595216a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b11d993013e9f3e786a5e3533ab8275b248719
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.03521752 0.00313005 -0.05477456
+v -0.03616049 0.00141907 -0.05477456
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+
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae814ed388b077cc80cb746ba00715e422f5180
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01272731 0.02256239 -0.05428159
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+
diff --git a/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239c980bed90f8b94ccad7b2ad89296a18b8791e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mjcf/mesh/red_cup_collision_9.obj
@@ -0,0 +1,886 @@
+# https://github.com/mikedh/trimesh
+v -0.05001542 -0.01412545 0.06243097
+v -0.04268143 0.00767894 0.06221575
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