diff --git a/.gitattributes b/.gitattributes
index c5c155949a6e446b0f78dea1ad61b70c9a445b01..e969e17f27796e6d3dffe893070d31ec8f7663b6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4757,6 +4757,6 @@ dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/8fcf16a567b15d20b9df625e271d5903.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.urdf b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..108b3e84a613185f312a3f12775aa754aa8e7802
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.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>0.60</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>0.152238</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>simple purple cup with a curved handle</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>20260120060338</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.833980083465576</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.usd b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.usd
new file mode 100644
index 0000000000000000000000000000000000000000..605b8b738d54564c2e1237b76b132bf9ca034fa0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cd5d80c7cc48095b8fbc147897f39ec88a0be689a6433fcbf35b8f28250901
+size 529259
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/material.mtl b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/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/9d1e927e5d4d56b0a564ff76829e4470/mesh/material_0.png b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cd56042f67a1db38e1cfa5a3d93868eecd3623f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446c181c96732d7650cd502db2dce598aac78c3849393235cce2220592d9dd0b
+size 1239363
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d9f54cde0954157f158369dfb0196272a3bf4678
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a75c1b3096b01cf7e65c230e318c48233043160ebb916a3e6757ee8307bd8bb
+size 1596096
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4c3eb40b021ca14673f05bee99a9e7ba8850fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.obj
@@ -0,0 +1,32522 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5004d7eca6f1f18931a8e490f4ec8b909436f70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042003016479b83d8339ce5eb098c176808974d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa8de3da195fce8d69515ba767f5ab7dd92b59d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,29702 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac69e170dc3f449d82c3fcdf44799672294ddef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,928 @@
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e289378a1d79637ae8b9d8791b8560a7c673a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e79de2b1eecae6c8c3820d4612150a777fb1fb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471bb4453a212265ce57b6a699fada93c953bd61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ec63780f71d92d0d053e1f4cfeda102bf04332
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2039eafa5fc6f3e0b138340653db948f9c79f3f
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ced27be0481b7747726195d1de6bc9a55f8e37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02843725 0.00154899 -0.05284566
+v 0.03215457 0.00154896 -0.04471188
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+
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd989c540242e612677cb2183322f6e7148e92f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_15.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.01862731 0.01138589 -0.05288162
+v -0.01804059 0.01230631 -0.05288161
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+
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7046b40a7a0a65effa326e0f50b92fbc01d78cda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_16.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00980063 0.02779809 0.01089849
+v -0.00980063 0.03439514 0.01089852
+v 0.00001929 0.02883069 0.01089850
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+v -0.00631521 0.04304239 0.03614888
+v 0.00001929 0.03575156 0.01089852
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+v -0.00980063 0.03234168 0.06066845
+v -0.00980063 0.03214322 0.05975505
+v -0.00812617 0.03479057 0.01089852
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+v -0.00706401 0.03502187 0.01089852
+v -0.00412937 0.04304239 0.03487520
+v -0.00576539 0.03527703 0.01089852
+v -0.00980063 0.03992961 0.04622667
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+v -0.00980063 0.03992513 0.04628757
+v -0.00980063 0.03790314 0.05968911
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+v -0.00373815 0.03814637 0.06104398
+v -0.00124568 0.03709435 0.06236333
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+
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6860cca02fdb89a3cfdaaa21939ad3fa30554040
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.00001929 0.03575389 0.01104646
+v 0.00124834 0.03575248 0.01104646
+v 0.00001929 0.02885140 0.01104644
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a118b74c97112d6d2c1df2a2455dd1ea72cfe1cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fa9be686531dc2e9f5dd8df4331f32021f38a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d8ad2e7098b40ecbf0b1980448aeaddd4ee9b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e5f8e5a13498589a7db116855456e438c3be30e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c6ae9e1d3bab8b5135bf378fbcac01b23ef7db5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739816c4ca2df95cf79df28c9e2bd24105f7c8a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_22.obj
@@ -0,0 +1,889 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d021ba23eb0af822f9098caaf309415f8c2125
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_23.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9877657248ca126bbb2a7b1351ac9f72e9f7636
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_24.obj
@@ -0,0 +1,982 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07405a45b3dd50371a361b5ed51681636ac2175c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59e43cd6e2901f0912ee1e445a4391c6f142b2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43333443bd2a5a0fa6b6496eac79edb4ee0d1e41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ff1081ccf65d7ea9ee6887313ca3d79fa5090d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3634bfe8a6c61ce0cab56f99c186c2ad4e8c40db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228493927b0f07d904216634380c6575de1bb20d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f01e6e28fe6507c5428729f18ab28c0cd5dd85d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..741b830db1ef509d784113240a8384342b5a4c0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13784385cace257a1ac4095af1ac3223bde20114
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00fd9ca222de44a435300bd088b0d372d08ae52a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00980063 0.02011171 -0.03284721
+v -0.00980063 0.02674668 -0.03284718
+v 0.00001929 0.02144143 -0.03284720
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+
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a84780b96a3a5913b7ba204cabd48868733df1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00001837 0.04304233 0.05477555
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+
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98c37ae38f92609d623808fefd918103d021f72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_35.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00124786 0.03635330 0.00745449
+v 0.00001929 0.03635330 0.00745449
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c19a21c1739874ce8d8c7a7aa8b4d0b6c63a10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3efbcd2d476c49394675b3b3addc43cda72d6a12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ae746e5dc98d3055dcaa88bb6f3c93855fe0b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_38.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01707825 0.01990929 -0.02088388
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+
diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e46389d3b788123f208ea14ef344456a7935bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_4.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00946172 0.02253471 -0.02088387
+v 0.00001929 0.02385878 -0.01879634
+v 0.00001929 0.02365321 -0.02002760
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+v 0.00946172 0.02789314 0.01104136
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585c84600a1b1982ad78f23b3fdd7255e0cedc1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61497ecf07d441402a6946d272d3308ab0821b7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da000436ad8adb94fb6eecbc6e43ba57d2efa5ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b90fa563bb3f97e82643b788b371e133a29c69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036655cec29441e1189b09e447311d57658423dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mjcf/mesh/purple_cup_collision_9.obj
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