diff --git a/.gitattributes b/.gitattributes
index c7dbc37d65282e4cdc530aa09ac302f37ae89f17..a821bf2a2fe1775bf2b2d5bb0dad97228ded5e47 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4813,3 +4813,6 @@ dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply f
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.urdf b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8e3e932a589a0599915cb9784a890eaa045f0e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.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>0.157470</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>glossy red cup with a handle and metallic rim</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>20260120015008</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.9956464767456055</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/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f6a4440347566193170dca725576ce797f924c0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed35435573aa727f0d459f5a476cd50b4ae3b45efd13aa3d869d91f8b32b9a0a
+size 808120
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/material.mtl b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/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/cf82e0113da350b289d8cf030b72c768/mesh/material_0.png b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..228cfa15e6bb27362a5dcde32a853a8f93e27f78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28509a1205e65b09b90635f09dce0e5c1e56c423cfd80014ca950ed3da6879eb
+size 1560402
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..178fe2cd35203ba8fb90e1946f346e1a48622882
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b61f5819c5cf708f177229281351a76809ef7b395271f4a66e36cf90a01df3
+size 2104572
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac22aa8c3f9684225a85e541867f4109c13e35ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.obj
@@ -0,0 +1,49662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3146229b8a7a3b313043d9c7599d3012a1ab44fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply
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index 0000000000000000000000000000000000000000..6baad84449766b8ff5134b26aacbb2fc2d6733d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/cf82e0113da350b289d8cf030b72c768.xml b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/cf82e0113da350b289d8cf030b72c768.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5d69cd2f21e4f47b69caee912a047456555c26cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/cf82e0113da350b289d8cf030b72c768.xml
@@ -0,0 +1,136 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_4" file="mesh/red_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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_13" file="mesh/red_cup_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/red_cup_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/red_cup_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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_48" file="mesh/red_cup_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/red_cup_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/red_cup_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_60" file="mesh/red_cup_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="red_cup">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_60" 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/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..228cfa15e6bb27362a5dcde32a853a8f93e27f78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28509a1205e65b09b90635f09dce0e5c1e56c423cfd80014ca950ed3da6879eb
+size 1560402
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc4cccfec3c259991b161d493602c9d3229c0ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup.obj
@@ -0,0 +1,49662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb992dd905ee6d602d0308c4c7918f0729a7afa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,19098 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e9106f1929a533d112a67d10cf0cc225a3c6137
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_0.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7f3f5db1e10d384ede1c53aa6291d69c5b43ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a190c91408099147d7cc7787ca74a2b9fbea2c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_10.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..942acd42d40839000ea70087de0f0018a3901ea0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_11.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97006e5e224160fdf8fd3c0406e61075ad0ff6a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_12.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2294b47eb822ddacdbbf18a152edb0f255350cba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_13.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b23028e009eb859144ca5bb73da1100363758f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_14.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27af05445cf1fefeeff2bdd0713ad585a27200a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f64d242f30e5587bb9b1d679fc6e633e36d66c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_16.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b7eeaa383ed66561a84b1db5ec65ed94fea29da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_17.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0303b8deee7035f6806b03beda59061d1bb3df9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_18.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7778f4039c68302f813b3bc94e045d4c720f30c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6aa2de3116166c8a5f0a8519c333c3e3aba756
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf7d6167690306e92723389c5aebee19da2a720
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_20.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8fc64531a2a644be8a20ec3d3a2da9c7a90cf52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24da29d8d3bd7c585a56b93d3555e201a31c0c59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ccf2c1529e060acacfd052052ec14518ab11ad5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_23.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de8ba94331572ac455ea0a541ffb1690fd3191a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55795baf231bddcac8f78ea32e6e504d5c33fa00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/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/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0703c71f28a4f71af968cca23d8349e32932425d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_26.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f84cf4a1c08e05610d41c9b2e61c52114b89cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b06432be6c234b9abc5e71f44afd6a21cabb96be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e95d644a132b08a9698d5a714b516618324417
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_29.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3271e226a04192eb54dff131b471ee98c6ed3f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_3.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e192ae9d942c3feff099ba4090e8afe79ceabc3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339c7946e5b26cf08a9bb40164010695e662835b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055936519bb4326a97437b6a30fb409a2ea8e556
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3aa52a824444c39b029ed7f7a498b1fa3d039a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ca5750d3be895a765229fb6a8c218f3ab23312
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c02a911e214034548caf071ee46a7aea40708570
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2de71b0afac53b295a7451753a7990d2f36a30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a83b558b5d932e668e8fa3a869766c0b19543ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d1b57442aadf94ed6afadf2502b2d38da34b7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe2fd872d3d18842f051a0ffe3b0c1c1c2314ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_39.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3602e01f505a75fc56f0494a01774d8bbd9ffe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d102c9177d8c11bb837e7e5610f3227e7bf1bc01
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7944ad01bef71e3da8ceba13e777a16becb256da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211e07b0523bc184ca7e3344c5509773b10f2010
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_43.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9564b64eddfe6b00956e734f0ef2f7eac42c009
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_43.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01958346 -0.04457779 0.06251465
+v -0.01700210 -0.04457779 0.06231663
+v -0.01958346 -0.04352777 0.06229098
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+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_44.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c84a4e2619304b0e7390d915a0be14ea0210bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_44.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v 0.00877543 -0.04336468 0.05027419
+v 0.00695540 -0.03776735 0.05027421
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+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_45.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce62018b5a3190d44d3c969c6afba2f036ed573
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_45.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03922683 -0.00757754 -0.04953540
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+v -0.04558775 -0.00757754 -0.04953540
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+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_46.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad789c16662da8a67d0056de03ab4d886b9f9a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_46.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.02455602 -0.03273292 -0.03878163
+v -0.02474755 -0.03261719 -0.03878163
+v -0.02474755 -0.03229459 -0.04533712
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_47.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8697129f6a28dc00580b80941b9c9893b76ce71d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_47.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_48.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8d0364d006151852c805ab383a1998d2805a91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_48.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_49.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615106c46ab4889fbd7bb56d29e596c633585d8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_49.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a82f8a8337871b4513f2ede3bf718ac9e672aa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_50.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c4a62ccbc61de916d30f64ab0023047885164d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_50.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00500643 -0.03666453 0.02699882
+v -0.00469393 -0.03670417 0.02699882
+v -0.00469393 -0.03673225 0.02758145
+v 0.00500643 -0.03667114 0.02712358
+v 0.00500643 -0.04226846 0.02699879
+v -0.00469393 -0.04223213 0.02699879
+v 0.00500643 -0.03746892 0.04100379
+v 0.00500643 -0.03681319 0.02962543
+v -0.00469393 -0.03752012 0.04100379
+v 0.00364196 -0.04235931 0.02699879
+v 0.00500643 -0.04761643 0.03564908
+v 0.00493997 -0.04996172 0.03603429
+v 0.00462093 -0.05353747 0.03479361
+v 0.00449464 -0.05353747 0.03457427
+v 0.00333907 -0.05353746 0.03262350
+v 0.00106115 -0.05353746 0.03146236
+v -0.00155954 -0.04246666 0.02699879
+v -0.00126424 -0.05353746 0.03167073
+v -0.00151871 -0.05353746 0.03169404
+v -0.00324875 -0.05353746 0.03273317
+v -0.00343961 -0.05353746 0.03285381
+v -0.00445750 -0.05353747 0.03479361
+v -0.00469393 -0.04710608 0.03479364
+v 0.00500643 -0.04346759 0.04100377
+v -0.00469393 -0.04347089 0.04100377
+v 0.00106115 -0.04251125 0.02699879
+v 0.00500643 -0.04742319 0.03624267
+v 0.00493997 -0.04996172 0.03611106
+v 0.00431803 -0.05353748 0.03712275
+v -0.00151871 -0.04246831 0.02699879
+v 0.00102032 -0.04251125 0.02699879
+v -0.00418024 -0.05353748 0.03737773
+v 0.00465796 -0.04355678 0.04100377
+v 0.00106115 -0.05353749 0.03974663
+v 0.00300198 -0.05353748 0.03909957
+v 0.00312827 -0.05353748 0.03893095
+v 0.00428289 -0.05353748 0.03737773
+v -0.00408813 -0.04362944 0.04100377
+v -0.00408054 -0.05353748 0.03753128
+v -0.00316329 -0.05353748 0.03894329
+v -0.00167918 -0.05353749 0.03952729
+v -0.00151871 -0.05353749 0.03958897
+v 0.00367520 -0.04368725 0.04100377
+v 0.00106115 -0.04402253 0.04100377
+v -0.00151871 -0.04400602 0.04100377
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 24
+f 1 24 27
+f 1 27 11
+f 1 11 5
+f 1 5 10
+f 1 10 26
+f 1 26 31
+f 1 31 30
+f 1 30 17
+f 1 17 6
+f 1 6 2
+f 2 6 23
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+f 2 25 9
+f 2 9 3
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+f 3 8 4
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+f 5 14 15
+f 5 15 16
+f 5 16 10
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+f 6 22 23
+f 7 9 25
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+f 13 36 35
+f 13 35 34
+f 13 34 42
+f 13 42 41
+f 13 41 40
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+f 13 39 32
+f 13 32 22
+f 13 22 21
+f 13 21 20
+f 13 20 19
+f 13 19 18
+f 13 18 16
+f 13 16 15
+f 13 15 14
+f 16 17 30
+f 16 30 31
+f 16 31 26
+f 22 32 25
+f 22 25 23
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 28
+f 24 28 27
+f 25 32 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 34
+f 25 34 38
+f 28 37 29
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 38
+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_51.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2adc09a704fcb6cfdae9403b14a8b0667d30fcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_51.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00106114 -0.06374017 0.03866643
+v -0.00154711 -0.06374017 0.03843824
+v 0.00153919 -0.06374017 0.03856713
+v 0.00244585 -0.06256870 0.03872560
+v 0.00106114 -0.06305806 0.03886822
+v -0.00087765 -0.06308902 0.03887773
+v -0.00259847 -0.06198546 0.03858192
+v -0.00170189 -0.06374017 0.03838119
+v 0.00328474 -0.06374017 0.03745467
+v 0.00266931 -0.06107165 0.03885978
+v 0.00106114 -0.06107165 0.03927497
+v 0.00329940 -0.06352745 0.03751383
+v -0.00151872 -0.05847504 0.03941654
+v -0.00165060 -0.06110062 0.03905522
+v -0.00292817 -0.06025372 0.03875835
+v -0.00360129 -0.06366827 0.03703631
+v -0.00359122 -0.06374017 0.03702152
+v 0.00339464 -0.06374017 0.03727613
+v 0.00291384 -0.05847504 0.03902248
+v 0.00106114 -0.05847505 0.03958452
+v 0.00391391 -0.06107165 0.03737861
+v -0.00151872 -0.05587844 0.03955177
+v -0.00305638 -0.05847504 0.03885451
+v -0.00363152 -0.06110062 0.03758357
+v -0.00405188 -0.05847504 0.03737862
+v -0.00457939 -0.06366826 0.03479343
+v -0.00456931 -0.06374016 0.03479343
+v 0.00473723 -0.06374016 0.03465504
+v 0.00298985 -0.05587843 0.03908798
+v 0.00106114 -0.05587844 0.03971447
+v 0.00419323 -0.05847504 0.03737862
+v -0.00151872 -0.05353749 0.03958876
+v -0.00167899 -0.05353749 0.03952748
+v -0.00314430 -0.05587843 0.03892423
+v -0.00415994 -0.05587843 0.03737862
+v -0.00459404 -0.06107164 0.03479344
+v -0.00423962 -0.06374015 0.03220932
+v -0.00418101 -0.05353748 0.03737863
+v 0.00476012 -0.06374016 0.03458320
+v 0.00300175 -0.05353748 0.03910067
+v 0.00106114 -0.05353749 0.03974723
+v 0.00426925 -0.05587843 0.03737862
+v -0.00316353 -0.05353748 0.03894326
+v -0.00445758 -0.05353747 0.03479346
+v -0.00326427 -0.06374014 0.03032353
+v 0.00462092 -0.05353747 0.03479346
+v 0.00474089 -0.06107164 0.03479344
+v 0.00443776 -0.06374015 0.03249985
+v 0.00312814 -0.05353748 0.03893164
+v 0.00428298 -0.05353748 0.03737863
+v -0.00344011 -0.05353746 0.03285380
+v -0.00321299 -0.06374014 0.03026331
+v 0.00431779 -0.05353748 0.03712297
+v 0.00440296 -0.06374015 0.03242167
+v 0.00449454 -0.05353747 0.03457478
+v -0.00324870 -0.05353746 0.03273230
+v -0.00157917 -0.06374014 0.02912339
+v 0.00306678 -0.06374014 0.03012703
+v 0.00333969 -0.05353746 0.03262349
+v -0.00151872 -0.05353746 0.03169274
+v -0.00155627 -0.06374014 0.02911071
+v 0.00123239 -0.06374014 0.02896386
+v 0.00122140 -0.06374014 0.02895753
+v 0.00106114 -0.05353746 0.03146243
+v 0.00120858 -0.06374014 0.02895435
+f 1 2 8
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+f 1 17 27
+f 1 27 37
+f 1 37 45
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+f 1 52 57
+f 1 57 61
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+f 32 49 50
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+f 32 59 64
+f 32 64 60
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+f 42 47 50
+f 42 50 49
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+f 59 62 63
+f 59 63 64
+f 60 64 61
+f 61 64 65
+f 63 65 64
+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_52.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e3f809b0dac98c219d5c0f86a7362e35624779
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_52.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00500662 -0.04761602 0.03565041
+v 0.00500662 -0.04218505 0.02525631
+v 0.00622282 -0.04211561 0.02525631
+v 0.00695540 -0.04203404 0.02525631
+v 0.00695540 -0.04292582 0.03228531
+v 0.00695540 -0.04319478 0.03479567
+v 0.00695540 -0.04321682 0.03529284
+v 0.00695540 -0.04370960 0.05027174
+v 0.00603968 -0.04388375 0.05027174
+v 0.00583078 -0.04391021 0.05027174
+v 0.00500662 -0.04400280 0.05027174
+v 0.00500662 -0.03659209 0.02525633
+v 0.00695540 -0.03635621 0.02525633
+v 0.00695540 -0.03776831 0.05027176
+v 0.00500662 -0.03806372 0.05027176
+v 0.00500662 -0.03667036 0.02712501
+v 0.00695540 -0.03642676 0.02720584
+v 0.00695540 -0.03771430 0.04956886
+v 0.00695540 -0.03752911 0.04698258
+v 0.00695540 -0.03734722 0.04439874
+v 0.00500662 -0.03797003 0.04893699
+v 0.00500662 -0.03681257 0.02962557
+v 0.00695540 -0.03707275 0.03997805
+v 0.00695540 -0.03692834 0.03737952
+v 0.00695540 -0.03680046 0.03479569
+v 0.00695540 -0.03718297 0.04187368
+v 0.00500662 -0.03771209 0.04513348
+v 0.00500662 -0.03779366 0.04635070
+v 0.00500662 -0.03762500 0.04376686
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 23 29 26
+f 26 29 27
+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_53.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8266572c5e1f37525344709ef2414184fc5c2559
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_53.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00052087 -0.04381183 -0.01540822
+v -0.00068883 -0.04381183 -0.01540822
+v 0.00187110 -0.04381183 -0.01586539
+v 0.00106115 -0.04251028 0.02699879
+v -0.00079897 -0.04381183 -0.01541466
+v 0.00102032 -0.04251028 0.02699879
+v 0.00245316 -0.04381183 -0.01625173
+v 0.00364196 -0.04235810 0.02699879
+v 0.00309029 -0.04381183 -0.01712743
+v -0.00158423 -0.04381183 -0.01576237
+v -0.00151871 -0.04246767 0.02699879
+v -0.00210647 -0.04381183 -0.01602637
+v 0.00500643 -0.04226780 0.02699879
+v 0.00406166 -0.04381182 -0.01948409
+v -0.00155954 -0.04246564 0.02699879
+v -0.00338548 -0.04381183 -0.01726265
+v 0.00500643 -0.03666527 0.02699882
+v 0.00424207 -0.04381181 -0.02217557
+v 0.00500643 -0.04207180 -0.02225283
+v -0.00469393 -0.04223127 0.02699879
+v -0.00392007 -0.04381182 -0.01847961
+v -0.00469393 -0.03661352 0.02516372
+v -0.00469393 -0.03670484 0.02699882
+v 0.00500643 -0.03362434 -0.03417133
+v 0.00365906 -0.04381180 -0.02449360
+v 0.00500643 -0.03983459 -0.03757757
+v 0.00500643 -0.04032870 -0.03509213
+v 0.00500643 -0.04069497 -0.03240708
+v -0.00469393 -0.04265519 -0.02247821
+v -0.00452207 -0.04381181 -0.02115822
+v -0.00420018 -0.04381182 -0.01948409
+v -0.00469393 -0.03371058 -0.03421640
+v 0.00500643 -0.03358781 -0.03499551
+v -0.00469393 -0.03367608 -0.03498907
+v 0.00283012 -0.04381179 -0.02674724
+v 0.00500643 -0.03955253 -0.03878166
+v -0.00469393 -0.04231732 -0.02465458
+v -0.00469393 -0.04210628 -0.02589085
+v -0.00469393 -0.04041798 -0.03570383
+v -0.00417264 -0.04381180 -0.02390122
+v 0.00500643 -0.03353201 -0.03636057
+v 0.00500643 -0.03344678 -0.03878163
+v -0.00469393 -0.03356447 -0.03878163
+v 0.00221767 -0.04381179 -0.02791913
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+v -0.00469393 -0.03972806 -0.03878166
+v -0.00348613 -0.04381179 -0.02612910
+v 0.00108109 -0.04381178 -0.02973492
+v 0.00106115 -0.04314925 -0.03240709
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+v -0.00279013 -0.04023738 -0.03878166
+v -0.00072206 -0.04177854 -0.03654090
+v -0.00155669 -0.04213466 -0.03502130
+v -0.00151871 -0.04298895 -0.03240709
+v -0.00240367 -0.04381179 -0.02817669
+v 0.00103931 -0.04381178 -0.02977999
+v -0.00129937 -0.04381178 -0.02963834
+v 0.00115800 -0.04044537 -0.03878166
+v -0.00153865 -0.04038145 -0.03878166
+v -0.00009347 -0.04042914 -0.03878166
+v -0.00145699 -0.04381178 -0.02949668
+v -0.00177509 -0.04381178 -0.02909102
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 16
+f 1 16 21
+f 1 21 31
+f 1 31 30
+f 1 30 40
+f 1 40 49
+f 1 49 59
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+f 1 35 25
+f 1 25 18
+f 1 18 14
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+f 1 6 2
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+f 48 59 49
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+f 58 61 65
+f 58 65 66
+f 58 66 59
+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_54.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064fbffcb19fae406ca704e44a7c338cbff9bf16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_54.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00500662 -0.04218538 0.02525386
+v 0.00622282 -0.04211511 0.02525386
+v 0.00500662 -0.03659236 0.02525388
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_55.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1796f3db3aba9c4f9e683bfe235cf61a1c89293e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_55.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_56.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242330b15aea16faefccdfcfc05ca63420ea45cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_57.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6fdd5a3c1d766a0f045c458c187d5ca8009aed3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_57.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_58.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06c9147d9b840d05c358d35cc5543263965b575
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_58.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_59.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e157358feae024301c3b34bd0e0f7c88f2997d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_59.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74219e90197b9ad6219500d4c1c20ff1eb43fd25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_6.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_60.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce18e0003d9e6718ccfaaed0fb57556e5117c37e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_60.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb13b0a7aba1b45e7d5a19138f9422747ca3483
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652559125ebbe9c5a14c612a5c6f32125cdf6fd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490cbd2dc777b7501f39eb714cd9a48eefd115e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_9.obj
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