diff --git a/.gitattributes b/.gitattributes
index e82aa490845c8f1af98803220a3c1262c0d00696..6dd4288d6fc091932cc35d5f4d3b58deafb932bf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4684,5 +4684,6 @@ dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4/mesh/thermos_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4/thermos_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.urdf b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d96e42fe9fc5a87963aabf79754cc0dbfc42d583
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="purple_cup">
+   <link name="purple_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/purple_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/purple_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="0.3000" />
+         <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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>simple cylindrical purple cup with smooth surface</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>20260120060724</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.7228665351867676</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/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.usd b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ce525bc24ddd73b8f38cdd764b03ae4ce953032e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/428b0a043aa55272b7a9f8b47bfa1c53.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f63c2b461ac74c4c04b7296c15aef56e3b07224044237cd087fbd96845ffc17c
+size 1162940
diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/material.mtl b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/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/428b0a043aa55272b7a9f8b47bfa1c53/mesh/material_0.png b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a004318e7459815467e11675604a55764ab3234
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eef4218fffab9089626dafe479ee23f93e82a143cec29405e6ce8c8ed7475cd
+size 1346750
diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6eed092ca8e72715066475691fca1123741e911d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4baf1e62791940ec77f060dbeb83891eff72f688db2010ecfa5830e32b4aa7ad
+size 2155012
diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af160b51679b38100ff2a6865bcefa63606a33e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup.obj
@@ -0,0 +1,74208 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.02588572 -0.05584191 -0.03921343
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9883eea720fced95bfd2e3a7e1b9504b472cdf67
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mesh/purple_cup_collision.obj
@@ -0,0 +1,21388 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup.obj
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+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2a24f1963993c8c6d79ba57b31df6b081a648d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,21388 @@
+# https://github.com/mikedh/trimesh
+
+o purple_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1340b263f406995cdd246936d4a435e8acfaa9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,1225 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e5f965b08defb3fdd4d9272af1e648c1cbc9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_1.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00015830 0.00824018 -0.05679778
+v -0.01953810 0.00824018 -0.05729601
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+
diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9d55b60d1be38d18a153a1ddb65c1aca14037d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_10.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.05451484 -0.00003850 0.06277323
+v 0.05541445 -0.00003850 0.06263670
+v 0.05451484 0.00516851 0.06282575
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da27c9adf75fc5079ead465d5fcb5a6902f20349
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32413178dc8fa2f4c93713a0ef8b9388aac9acb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32892d377d51b7b82ec9512298ddf8cad5bd1b2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c2015c8f7344daf8a865e6873cd96f83e56e09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5901c828657d55bc66c38e8bf0a1881b5a1b7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6257c190dbfd90e6038aea9767338ec88809b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7daa75568a08670ca46f1f52e14a306c914f1c10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8c0398098b769a4110f57c5fdd1e50ad85b41d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f4a89d38789354de8bfc127284265c262d4b16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f575d234f70c90a1d8b8dc3031b22b00889e5242
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38356dd60ae8d3b7059b3981317016ec5ebc6a60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_20.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec93b2d3d6bf33a5ce72d74b032c4cb0c8cd39c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd40e7c4cf943365572c1f0bd14858f028fd2eb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c807741e94bbe0507278b2aa16454d2f9647be6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e78f118fa3b946c0017adecaa6511baa2ee18f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_24.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10ce631b6b6d1797c7cd5f530ee537d6b287152
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_25.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e82c5e5453b82178e1905e69fb4b248b36ea68c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304e8d58aa30d3158237404338f66422811146a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1df8fe25c9f4fefddb33f4b75816d4762fc70ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e230ff920761ffa9ed4f92becc57af435d3015
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_29.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5d07c80645c7910e1ebfaec5d8317d7d821d2c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_3.obj
@@ -0,0 +1,715 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c8f9abed9334c98700ab820c28acd191e60ca0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6a2e2a4ff1dc3ce905349299de8ee8eeb558d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_31.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99097b39c1198817f26fb238a6efb6a2ff73fcf5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc8e1af764051f77ef6628a792c2b927bbd4315e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db04721b7fcc9e21b2ff28f587255b912d0a968
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f570af41a94217f2cdf67de66c65206b8c1571c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_35.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dcf3fd1e437c145a6c9139a351f5c521335bbcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_36.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ba4ae6a62ac71a20b265f01bfa54e54d5749ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.05101625 -0.00885538 -0.04967562
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d308a18481fa89a49f7496920d2d269d8efdeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4b6aac5572b3ce049ebd24b6d19b6aa2e605f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_39.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3edfdacab2dc033b222e2cd342be7287be1b67e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_4.obj
@@ -0,0 +1,769 @@
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f86850f99da1d47db6c0b8603682b9765bde4b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ecdb944ffe10409341af0f29781d19d10977bf2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbae8529f304a0cca4ae39b9e2ffaa58f128bc74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b16a1f8adae4892a2e38c69fe33ac13d1ffb96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66614a125ace8d48727a0cef3bd2dd539364804c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a13675265d43d9562ca594f8090cf707d81d7b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/mjcf/mesh/purple_cup_collision_9.obj
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