diff --git a/.gitattributes b/.gitattributes
index 51169b9b0376701a076bb290de6d4b4c14b40341..3546a0c46fba636c31eaeae687d4f7637acb5d04 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4751,3 +4751,6 @@ dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.urdf b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..080df35bc07064f2af4d20f52c8cbc10148be587
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.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>0.50</mu1>
+            <mu2>0.40</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>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>tall purple cup with a lid and smooth cylindrical body</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120061115</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.706542015075684</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.usd b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.usd
new file mode 100644
index 0000000000000000000000000000000000000000..411b5faa7c890291ef45195602996f22fcf83e24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03167b69daeba6985be4488ce33dec597ad3d90502569d049f8d24750cc50b45
+size 722257
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/material.mtl b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/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/7e0f9bf76c4c54ffb4b563af46360523/mesh/material_0.png b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43f21b1018cd52e173b71a9a67a8ecd1a490d593
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360df8bd257eacadc6b103cfd26f8fc6c68a4b6fbb094c2195cf93fd0a16f718
+size 1752444
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a4b6a9a185c4428392419a72bf54d083fcd72ced
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc70a1739a62a6c1bdcf6315a80a7332e401d8fe3af771434b5148625a0964fd
+size 2251196
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6acb0d57f19f87d4df3547a2e498880ad9045a2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.obj
@@ -0,0 +1,45692 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a036ac2ff391add6371e1a375ce58e2db2f1944c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup_collision.obj
@@ -0,0 +1,19502 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:360df8bd257eacadc6b103cfd26f8fc6c68a4b6fbb094c2195cf93fd0a16f718
+size 1752444
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup.obj
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index 0000000000000000000000000000000000000000..0726a534c45de9d5c688f37a684c8c63313a2da6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b725a6daf3d0cd5a1669932d41436f1412886aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,19502 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afb6258198233ce5522beca13e1e32ef9589f29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc8e76b2fb0ed4ac389bad2092d2e6f2f02dd313
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_1.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6752b96d64d756a6281e7904bfc2357fd6aa850
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ce3e93f9be1b63eb99d4f0221b3519b8384f508
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..099a0bcf44ffef4c2f38dff224c69dadd1075be3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df0496105d524e21e9b7e4e77cb332ad277c0fe1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_13.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02b9065e767e6a6591c9167827b7b83edca066e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136be16398b9c44655a163e18f8e3d633b712913
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2af4a97f9e6dbd4fc41c27061f98f69086d6f57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_16.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17394682103d53a8a87cb104433395cb24a42496
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..479cfb45cdb70bdcfa30ba7daaa56ac317646273
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8a825781ebe6073562928716ec3387627d20d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49655c2cc1a0632b064599aecce38ec834081b5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f264647da19b68bffc1c8c9890f180da6a32d56a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_20.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02835840 -0.03437347 0.06012888
+v 0.02855210 -0.03437348 0.06166611
+v 0.03737229 -0.03437347 0.06012888
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+v 0.00145637 -0.04653960 0.06166607
+v 0.04747632 -0.03437348 0.06166611
+v 0.04446268 -0.03437347 0.06026507
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+v 0.03725517 -0.03450688 0.06012888
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+v 0.04740425 -0.03455398 0.06166611
+v 0.04600329 -0.03759092 0.06088733
+v 0.04704838 -0.03437347 0.06043061
+v 0.02703853 -0.04407811 0.06012885
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+v 0.02879986 -0.04272836 0.06012885
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+v 0.04166076 -0.04182067 0.06037596
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+v 0.04339958 -0.04084759 0.06067829
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+v 0.03881830 -0.04595627 0.06166607
+v 0.03798043 -0.04679071 0.06166607
+v 0.03494877 -0.04944313 0.06066728
+v 0.03183603 -0.05213479 0.06078254
+v 0.03015577 -0.05260564 0.06055500
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+v 0.03581817 -0.04877872 0.06166606
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+v 0.03180449 -0.05211126 0.06166605
+v 0.02653850 -0.05521623 0.06166604
+v 0.03499382 -0.04948238 0.06166606
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251220a8baf904482fb8d4e3ac40ac1154d666c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00119598 0.00033949 -0.07561848
+v -0.02160940 0.00033949 -0.07566954
+v -0.00119598 0.00033951 -0.08148715
+v -0.00119598 0.02374234 -0.07558776
+v -0.02160940 0.02374234 -0.07542846
+v -0.02160940 0.00033951 -0.08149532
+v -0.02150547 0.00033951 -0.08149532
+v -0.02160940 0.02374236 -0.08238223
+v -0.00119598 0.02374236 -0.08148366
+f 1 2 6
+f 1 6 7
+f 1 7 3
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+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 5
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a405c4de7270cc6516e7c6c4c02196dd970d0ab6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_22.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.02161140 0.00033949 -0.07567058
+v -0.03335382 0.00033948 -0.07287270
+v -0.02161140 0.00033951 -0.08149446
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+v -0.02452203 0.02374233 -0.07287261
+v -0.03920608 0.00033948 -0.07287270
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+v -0.03517081 0.00033953 -0.08736309
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+v -0.02741716 0.02374238 -0.08752469
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+v -0.03487802 0.01836352 -0.07287263
+v -0.03623689 0.01514265 -0.07287264
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c13c576538a7a65d80e4097227b1f861a86b9b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_23.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00119398 0.03542900 -0.07287257
+v -0.00119398 0.02954023 -0.07554635
+v -0.00119398 0.04122964 -0.07287255
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+v -0.02720988 0.02954022 -0.07287259
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b7d63da5d2718558c97916a2f91df60e88cf6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_24.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ada1c47f5db01debe6d99c94470f7b92e13dbf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_25.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.01867178 0.05904624 0.06240538
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+v 0.01867764 0.05904624 0.06240538
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9386f4accab1acc3e9b2737a9e13de59e28a26d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_26.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.03737466 -0.03437265 0.06012873
+v 0.03725512 -0.03450704 0.06012873
+v 0.03408379 -0.03437254 0.02891685
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+v 0.03584525 -0.03604810 0.06012873
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131cb319c85f71ff86853549dca69a0014a87fd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f0084f759d9d43c51ad7487d189ffbe12f4a28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f38816a3d334fe63b18bef97ae7973060e3c763
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dafe3bad28c4220d6c4f3271b4937acd15aee59c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_3.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771541b671b915a55df12ee6cc5e8da091e17bdd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_30.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1b69832866681727ec1b01970220769541a600
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_31.obj
@@ -0,0 +1,679 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335bebd73288511d57e696b164dcdbe6cbaf5730
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36de6f9bf223b446e4070af24d8346b90985f58b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04eca8bbc84af373431fa23595991ba6c0265b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7818b13b4303b3cc351aece97415bfd34acdad14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c685f32496ee1566d814f31cb49d8661a8f343
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_36.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e366cc149e8298218a916aefffe866ad92ebeda3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10092156883c1e12659a79838bf7c22fd666f16b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e9d48d815120ac98bdc14cb739a43c52b5a805
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_39.obj
@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ae8e94c48356ff03583cbbf1132c7b73ec13c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.03950739 0.00003807 0.02891393
+v 0.04060920 0.00003801 0.04500431
+v 0.04775239 0.00003807 0.02891393
+v 0.02452774 -0.03437075 0.02891380
+v 0.04174072 0.00003796 0.05994343
+v 0.04775982 0.00003807 0.02900506
+v 0.04776230 -0.00135634 0.02891393
+v 0.03408748 -0.03437075 0.02891380
+v 0.02481991 -0.03437076 0.03131354
+v 0.04981983 0.00003796 0.05994343
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+v 0.02830856 -0.03437086 0.05971548
+v 0.02833827 -0.03437086 0.05994330
+v 0.04781182 0.00003807 0.02968245
+v 0.04788362 -0.00135634 0.03050869
+v 0.04752955 -0.00424619 0.02891391
+v 0.03417167 -0.03427644 0.02891380
+v 0.03734587 -0.03437086 0.05994330
+v 0.04982231 -0.00045042 0.05994343
+v 0.04816835 0.00003805 0.03480391
+v 0.04787371 0.00003807 0.03050869
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+v 0.04981983 -0.00127224 0.05994343
+v 0.04805199 -0.00424621 0.03630753
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c517f4f78436499f1f17f05fc9665be575e78a94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01470157 0.03269779 0.05931930
+v 0.01470157 0.03269779 0.06031930
+v 0.01470157 0.04387341 0.05931930
+v 0.01470157 0.04387341 0.06031930
+v 0.04501232 0.03269779 0.05931930
+v 0.04501232 0.03269779 0.06031930
+v 0.04501232 0.04387341 0.05931930
+v 0.04501232 0.04387341 0.06031930
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_41.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4495e3390c6734532c522c6edb61093a21e5ef66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05319559 -0.04088919 0.06159651
+v -0.05319559 -0.04088919 0.06259651
+v -0.05319559 -0.01526540 0.06159651
+v -0.05319559 -0.01526540 0.06259651
+v -0.03080156 -0.04088919 0.06159651
+v -0.03080156 -0.04088919 0.06259651
+v -0.03080156 -0.01526540 0.06159651
+v -0.03080156 -0.01526540 0.06259651
+f 2 4 1
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+f 2 8 4
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+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_42.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d8c6993d1beab29e6761ea095296843b4a1f39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_42.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.00141451 0.05433612 0.07739986
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+v -0.00428407 0.05806325 0.07554219
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_43.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b2803ad0a1c0366aaf2544f7d42b62c21f2db4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_43.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03080156 -0.03173014 0.06195287
+v -0.03080156 -0.03249228 0.07934686
+v -0.02335785 -0.03903801 0.07934684
+v -0.02335785 -0.03839478 0.06195285
+v -0.03080156 -0.04081939 0.06195284
+v -0.03080156 -0.04093352 0.07934683
+v -0.02335785 -0.04638708 0.07934681
+v -0.02335785 -0.04621712 0.06195282
+v -0.03022151 -0.04130480 0.06195284
+v -0.03011585 -0.05050813 0.06259810
+v -0.03080156 -0.04981642 0.06262194
+v -0.03080156 -0.04132671 0.07918678
+v -0.03063031 -0.04130486 0.07934683
+v -0.02683377 -0.04402800 0.07934682
+v -0.02936893 -0.04951552 0.07574745
+v -0.02602272 -0.05207119 0.07555164
+v -0.02437658 -0.05248621 0.07577979
+v -0.02335785 -0.05282600 0.07585301
+v -0.02335785 -0.05458312 0.06261681
+v -0.02437658 -0.05339873 0.06249422
+v -0.02341250 -0.04618315 0.06195282
+v -0.03013407 -0.04137761 0.06195284
+v -0.02738175 -0.05359046 0.06284837
+v -0.03080156 -0.05049599 0.06272919
+v -0.02999853 -0.04148926 0.06195284
+v -0.02850250 -0.04271006 0.06195283
+v -0.02822195 -0.04293577 0.06195283
+v -0.03080156 -0.04756418 0.07604542
+v -0.02858411 -0.04279264 0.07934682
+v -0.03080156 -0.04906165 0.07447389
+v -0.02989797 -0.04991840 0.07400227
+v -0.03080156 -0.05250559 0.06485066
+v -0.02651605 -0.05525057 0.06478595
+v -0.02335785 -0.05394485 0.07400225
+v -0.03080156 -0.04927281 0.07400227
+v -0.02335785 -0.05608061 0.06290454
+v -0.02462434 -0.04539921 0.06195282
+v -0.02437658 -0.05580878 0.06295734
+v -0.02678786 -0.04395512 0.06195283
+v -0.03011585 -0.05267062 0.06320593
+v -0.03080156 -0.05211483 0.06318380
+v -0.03080156 -0.05250559 0.06461570
+v -0.02651605 -0.05525056 0.06335234
+v -0.02335785 -0.05652234 0.06552999
+v -0.02335785 -0.05638642 0.06390909
+v -0.03080156 -0.05243763 0.06338470
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 21
+f 1 21 37
+f 1 37 39
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+f 1 27 26
+f 1 26 25
+f 1 25 22
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+f 1 41 46
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+f 1 30 28
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+f 16 31 32
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+f 16 33 34
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+f 16 18 17
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+f 19 36 20
+f 20 37 21
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+f 36 45 38
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+f 40 46 41
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+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_44.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28af77e6219b64fac469a7723312fc7133a43d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_44.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.03080156 -0.04178061 0.07840907
+v -0.03080156 -0.04018017 0.08560017
+v -0.03163670 -0.04142859 0.07840907
+v -0.03080156 -0.03246028 0.07840910
+v -0.03080156 -0.04008194 0.08586283
+v -0.03106746 -0.03995504 0.08560017
+v -0.03459154 -0.03883347 0.07840908
+v -0.03080156 -0.03250121 0.07986413
+v -0.03913241 -0.01898121 0.07840915
+v -0.04333996 0.00003194 0.07957041
+v -0.03080156 -0.03871480 0.08770336
+v -0.03222093 -0.03808034 0.08749645
+v -0.03269842 -0.03851422 0.08560018
+v -0.03413278 -0.03720847 0.08560018
+v -0.03750519 -0.03593136 0.07840909
+v -0.03080156 -0.03260765 0.08270335
+v -0.04703632 -0.01898121 0.07840915
+v -0.04992562 0.00003194 0.07957041
+v -0.04334745 0.00003194 0.07980379
+v -0.03080156 -0.03599278 0.08779691
+v -0.03310289 -0.03616470 0.08781298
+v -0.03501848 -0.03527647 0.08750213
+v -0.03546414 -0.03575946 0.08560019
+v -0.03689849 -0.03413853 0.08560019
+v -0.03806694 -0.03268952 0.08560020
+v -0.03950129 -0.03079025 0.08560021
+v -0.04359837 -0.02723729 0.07840912
+v -0.03080156 -0.03276729 0.08379746
+v -0.04347853 0.00003193 0.08270252
+v -0.04631727 -0.02137985 0.07840914
+v -0.04588285 -0.01722114 0.08698443
+v -0.04721983 -0.01292322 0.08560121
+v -0.04958482 -0.00718446 0.07957038
+v -0.04982076 -0.00424960 0.07957039
+v -0.04993124 -0.00135977 0.07957041
+v -0.04891258 0.00003192 0.08505798
+v -0.03872794 -0.02737649 0.08805961
+v -0.03080156 -0.03418357 0.08746623
+v -0.04509639 0.00003191 0.08765438
+v -0.03592852 -0.03319300 0.08780543
+v -0.03772053 -0.03225155 0.08742466
+v -0.04031209 -0.02905882 0.08721870
+v -0.04050122 -0.02934534 0.08560021
+v -0.04271079 -0.02534214 0.08560023
+v -0.04344295 -0.02389722 0.08560023
+v -0.03080156 -0.03303745 0.08560020
+v -0.04392419 0.00003192 0.08560126
+v -0.04322761 -0.02345925 0.08727635
+v -0.04442415 -0.02159272 0.08560024
+v -0.04615810 -0.01529322 0.08733496
+v -0.04359463 -0.02159273 0.08757587
+v -0.04778345 -0.01002929 0.08560122
+v -0.04823473 -0.00713946 0.08560123
+v -0.04876840 -0.00567817 0.08413581
+v -0.04884517 -0.00375024 0.08464131
+v -0.04891446 -0.00135979 0.08507405
+v -0.04859613 -0.00135980 0.08652436
+v -0.04859051 0.00003191 0.08650830
+v -0.04159477 -0.02159273 0.08801806
+v -0.04169776 -0.02444573 0.08774499
+v -0.03869798 -0.03011897 0.08766844
+v -0.04446722 -0.01292323 0.08797368
+v -0.03080156 -0.03400756 0.08732829
+v -0.04715616 0.00003191 0.08765438
+v -0.04075963 -0.02737649 0.08755129
+v -0.04643899 -0.01292323 0.08759386
+v -0.04410021 -0.01898124 0.08775540
+v -0.04854557 -0.00452796 0.08560502
+v -0.04670488 -0.01002930 0.08772992
+v -0.04690711 -0.00713947 0.08772804
+v -0.04705691 -0.00424963 0.08768742
+v -0.04716178 -0.00135980 0.08765343
+v -0.04415264 -0.01870290 0.08777430
+f 1 2 3
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+f 1 15 27
+f 1 27 30
+f 1 30 17
+f 1 17 9
+f 1 9 4
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+f 30 49 31
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+f 33 53 54
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+f 54 68 55
+f 55 57 56
+f 55 68 57
+f 57 66 69
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+f 57 70 71
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+f 59 62 73
+f 59 73 60
+f 60 73 67
+f 60 65 61
+f 62 64 70
+f 62 70 69
+f 62 69 73
+f 64 72 71
+f 64 71 70
+f 66 67 73
+f 66 73 69
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_45.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbcf5a17496dc6cb47af6ffefe3cf4edffbc6f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00030842 0.04387432 0.05931934
+v -0.00030842 0.04387432 0.06031934
+v -0.00030842 0.05325471 0.05931934
+v -0.00030842 0.05325471 0.06031934
+v 0.02776739 0.04387432 0.05931934
+v 0.02776739 0.04387432 0.06031934
+v 0.02776739 0.05325471 0.05931934
+v 0.02776739 0.05325471 0.06031934
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_46.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac3ea64acaaab9444681121b8bb22bdb7abc770c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_46.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00031117 0.05325370 0.06026617
+v 0.01852766 0.05452530 0.06213409
+v 0.00070509 0.05324753 0.06026617
+v -0.00031117 0.04726447 0.06026614
+v -0.00031117 0.05452529 0.06609387
+v 0.01301721 0.05452530 0.06315367
+v 0.01866885 0.05452530 0.06213672
+v 0.00145567 0.05323397 0.06026617
+v 0.01866885 0.04192645 0.06026612
+v -0.00031117 0.04757026 0.08270224
+v -0.00031117 0.05452525 0.07698259
+v 0.01866885 0.04934763 0.06026615
+v 0.01810034 0.04959430 0.06026615
+v 0.01497726 0.05072900 0.06026616
+v 0.01216073 0.05167869 0.06026616
+v 0.01060012 0.05213997 0.06026616
+v 0.00956156 0.05234841 0.06026616
+v 0.00719649 0.05268019 0.06026616
+v 0.00432608 0.05299963 0.06026616
+v 0.00357550 0.05306253 0.06026616
+v 0.01866885 0.05452526 0.07398971
+v 0.01866885 0.04315112 0.07980155
+v 0.01866885 0.04327444 0.08161151
+v 0.01866885 0.04335214 0.08270223
+v 0.01866885 0.04351247 0.08352158
+v -0.00031117 0.04823751 0.08560029
+v -0.00031117 0.05292430 0.08448587
+v 0.00145567 0.05333379 0.08270227
+v 0.00719649 0.05452525 0.07603414
+v 0.01293546 0.05452525 0.07504090
+v 0.00719649 0.05252716 0.08513661
+v 0.00956342 0.05236559 0.08472825
+v 0.01147703 0.05212878 0.08404590
+v 0.01809291 0.04958188 0.08467291
+v 0.01866885 0.04946717 0.08434886
+v 0.01866885 0.04476557 0.08524723
+v -0.00031117 0.04908605 0.08715996
+v -0.00031117 0.04854584 0.08618516
+v -0.00031117 0.05262583 0.08569251
+v 0.00129032 0.05256415 0.08582424
+v 0.00432608 0.05260363 0.08534738
+v 0.00922157 0.05452525 0.07570745
+v 0.00022204 0.05214974 0.08706249
+v 0.01580587 0.05002959 0.08513660
+v 0.01866885 0.04849898 0.08516031
+v 0.01866885 0.04804263 0.08540533
+v 0.01580587 0.04779965 0.08597703
+v 0.00333955 0.04921063 0.08707302
+v 0.00145567 0.04914896 0.08712043
+v -0.00031117 0.05065243 0.08717841
+v -0.00031117 0.05233105 0.08656982
+v -0.00031117 0.05215590 0.08707040
+v -0.00031117 0.05167489 0.08711518
+v 0.00129032 0.05059816 0.08711254
+v 0.00333955 0.04957324 0.08707302
+v 0.00719649 0.05069066 0.08650396
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
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+f 1 38 37
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+f 28 42 29
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+f 43 51 52
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+f 44 56 46
+f 46 56 47
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+f 48 55 50
+f 48 50 49
+f 50 55 54
+f 50 54 53
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_47.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b4ad03d5601d36b4f06db27744648aebe7a005c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_47.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01546728 -0.05043077 0.07934763
+v -0.01546728 -0.04974934 0.08562392
+v -0.01631235 -0.05017260 0.07934764
+v -0.01546728 -0.04365662 0.07934766
+v -0.01546728 -0.04932432 0.08727050
+v -0.01707336 -0.04898008 0.08661407
+v -0.01597612 -0.04956141 0.08562899
+v -0.01731502 -0.04911882 0.08468024
+v -0.01780885 -0.04954032 0.07934764
+v -0.01546728 -0.04366716 0.07980302
+v -0.03080156 -0.03248988 0.07934770
+v -0.01546728 -0.04881147 0.08753071
+v -0.01863590 -0.04712364 0.08769631
+v -0.02078985 -0.04655986 0.08741836
+v -0.02273065 -0.04602593 0.08560112
+v -0.02129569 -0.04685140 0.08560112
+v -0.01841826 -0.04840048 0.08562899
+v -0.02200266 -0.04720967 0.07934765
+v -0.01546728 -0.04367593 0.08011392
+v -0.03080156 -0.03250393 0.07986389
+v -0.03080156 -0.04093431 0.07934767
+v -0.01546728 -0.04781739 0.08779177
+v -0.01597612 -0.04785603 0.08775375
+v -0.02437575 -0.04183358 0.08797767
+v -0.02164992 -0.04491418 0.08777489
+v -0.02437575 -0.04399562 0.08755101
+v -0.02604637 -0.04343711 0.08721983
+v -0.02631355 -0.04361097 0.08560113
+v -0.02328602 -0.04649484 0.07934765
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+v -0.03080156 -0.03304314 0.08560117
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_48.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba681452827c9fa0a2e19f9d4bd63cfdd0c4701
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_48.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+v -0.01863790 0.05647022 0.06256219
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+v -0.03011453 0.05068476 0.06271127
+v -0.03175244 0.05062512 0.06303430
+v -0.03011453 0.05268283 0.06332005
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+v -0.01996792 0.05494654 0.07533920
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_49.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47e730e6b5cb0e3185c2af21f27ed09f9b430b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_49.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03789113 -0.02059705 0.06254156
+v -0.03789113 -0.02144046 0.07398802
+v -0.03080225 -0.03246674 0.07840815
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+v -0.03789113 -0.03342250 0.06254152
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245597940091dd4efbaab6e258ed1bf6cd15f3e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.02729678 0.03269681 0.02891405
+v 0.02896226 0.03269674 0.04790302
+v 0.03595336 0.03269681 0.02891405
+v 0.03950744 0.00004127 0.02891393
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+v 0.03009542 0.03269670 0.06000739
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+v 0.04986045 0.00004116 0.06000727
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_50.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f36eaecc3954b939e64b87ea599b977d0fed0d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_50.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_51.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e435e10e69d8e460d8de6cb4f85150dde80db7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_51.obj
@@ -0,0 +1,298 @@
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_52.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf6839edf7976e25c0c2450862013cf786df5305
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_52.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00145637 -0.04653953 0.06166608
+v 0.01785240 -0.04225203 0.06166609
+v 0.00145637 -0.05275231 0.06166606
+v 0.00145637 -0.04669149 0.06820434
+v 0.01785240 -0.04835723 0.06166607
+v 0.00145637 -0.04677024 0.07110311
+v 0.00145637 -0.04694438 0.07690066
+v 0.00145637 -0.04705196 0.07979944
+v 0.00145637 -0.04723386 0.08270077
+v 0.01785240 -0.04343099 0.07980201
+v 0.00359596 -0.05266358 0.06166606
+v 0.01785240 -0.05358075 0.06318848
+v 0.01315269 -0.05358075 0.06363957
+v 0.00145637 -0.05358076 0.06604881
+v 0.01785240 -0.04971690 0.06167632
+v 0.01784598 -0.04971690 0.06166607
+v 0.00145637 -0.04768080 0.08559954
+v 0.01785240 -0.04364393 0.08270078
+v 0.00646587 -0.05254159 0.06166606
+v 0.00722668 -0.05246396 0.06166606
+v 0.00908859 -0.05217894 0.06166606
+v 0.00942245 -0.05211128 0.06166606
+v 0.01785240 -0.05358080 0.07634958
+v 0.00145637 -0.05358081 0.07903819
+v 0.01785240 -0.04367166 0.08279049
+v 0.00145637 -0.04853587 0.08751155
+v 0.01785240 -0.04480398 0.08564313
+v 0.01785240 -0.04929998 0.08575332
+v 0.01730025 -0.04908484 0.08706815
+v 0.00849792 -0.05188957 0.08692717
+v 0.00658464 -0.05207700 0.08719116
+v 0.00432628 -0.05262928 0.08559953
+v 0.00145637 -0.05278455 0.08559953
+v 0.01769511 -0.05358080 0.07638034
+v 0.01290069 -0.05358080 0.07728765
+v 0.00145637 -0.05050772 0.08784729
+v 0.01785240 -0.04607494 0.08709635
+v 0.01678020 -0.04609490 0.08709635
+v 0.01785240 -0.04521101 0.08624799
+v 0.01785240 -0.04823865 0.08708353
+v 0.01785240 -0.04778839 0.08712453
+v 0.01580591 -0.04929999 0.08720911
+v 0.01293600 -0.04967595 0.08737571
+v 0.00432628 -0.05050772 0.08774734
+v 0.00432628 -0.05218013 0.08730906
+v 0.00145637 -0.05225333 0.08738596
+v 0.01293600 -0.04808117 0.08737571
+v 0.01785240 -0.04645755 0.08712967
+f 1 2 5
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+f 1 16 22
+f 1 22 21
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+f 1 11 3
+f 1 3 14
+f 1 14 24
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+f 41 43 42
+f 43 48 47
+f 43 47 44
+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_53.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3359d08115110da03c040b22ad600fdc7a4ef9e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_53.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01738943 0.04988169 0.06227093
+v -0.01738943 0.04287468 0.06227091
+v -0.01738943 0.05433426 0.06404705
+v -0.01121411 0.05211302 0.06227094
+v -0.00031117 0.04743159 0.06227092
+v -0.00031117 0.04756950 0.08270235
+v -0.01738943 0.04329530 0.08270234
+v -0.00031117 0.05433426 0.06573374
+v -0.00031117 0.05333471 0.06227095
+v -0.00128411 0.05335266 0.06227095
+v -0.00141617 0.05335378 0.06227095
+v -0.00428484 0.05313839 0.06227095
+v -0.00702311 0.05283325 0.06227094
+v -0.00715518 0.05281530 0.06227094
+v -0.00982658 0.05243500 0.06227094
+v -0.00995196 0.05241031 0.06227094
+v -0.01738943 0.05433422 0.07603018
+v -0.00031117 0.04823923 0.08560126
+v -0.01738943 0.04337942 0.08445857
+v -0.01738943 0.04332558 0.08402386
+v -0.00031117 0.05433422 0.07733183
+v -0.01738943 0.04891345 0.08626451
+v -0.01692637 0.04905817 0.08655266
+v -0.01501225 0.04948559 0.08728298
+v -0.00534638 0.05204338 0.08696999
+v -0.00343226 0.05216790 0.08708177
+v -0.00434837 0.05245622 0.08584223
+v -0.00141617 0.05266826 0.08560127
+v -0.01276546 0.05433422 0.07680024
+v -0.00031117 0.04854661 0.08618502
+v -0.01738943 0.04381132 0.08608315
+v -0.00041983 0.05433422 0.07733928
+v -0.00031117 0.05329986 0.08270238
+v -0.01738943 0.04856344 0.08682094
+v -0.01738943 0.04756724 0.08753882
+v -0.01289419 0.04977390 0.08746680
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+v -0.01002385 0.05004426 0.08749909
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+v -0.00031117 0.05262563 0.08569070
+v -0.00031117 0.05292404 0.08448593
+v -0.01197641 0.05433422 0.07686731
+v -0.00031117 0.04908621 0.08716125
+v -0.01738943 0.04397847 0.08637627
+v -0.00141617 0.05433422 0.07739890
+v -0.00428484 0.05433422 0.07727221
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+v -0.01738943 0.04621318 0.08754379
+v -0.01289419 0.04779946 0.08764813
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+v -0.00031117 0.05167430 0.08711407
+v -0.00031117 0.05065230 0.08717617
+v -0.01738943 0.04514070 0.08752144
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_54.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2418e2f7d0d9444e464470c1c2517a89d5451da6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_54.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01546728 -0.05664380 0.06249684
+v -0.01546728 -0.05628155 0.06252064
+v -0.00715455 -0.05918216 0.06198177
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+v -0.01546728 -0.05895359 0.06277391
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+v -0.00141615 -0.05347156 0.07923704
+v -0.00581934 -0.05347156 0.07854690
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_55.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a34c4871aaa7f27085bd2fde4a4af3d6269319
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_55.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00145637 -0.05918227 0.06205375
+v 0.01785240 -0.05499409 0.06166605
+v 0.00439529 -0.05944957 0.06166603
+v 0.00504536 -0.06109334 0.06166603
+v 0.00145637 -0.06171221 0.06250778
+v 0.00145637 -0.05358271 0.06604999
+v 0.01315269 -0.05358270 0.06363865
+v 0.01785240 -0.05848935 0.06166604
+v 0.01785240 -0.05372401 0.06300436
+v 0.00719618 -0.06106696 0.06166603
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+v 0.00145637 -0.06227831 0.06530513
+v 0.00145637 -0.05358276 0.07903686
+v 0.01785240 -0.05358270 0.06318801
+v 0.01785240 -0.05891923 0.06240405
+v 0.00976754 -0.06090862 0.06166603
+v 0.01013511 -0.06105844 0.06217278
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+v 0.01230520 -0.06084564 0.06445318
+v 0.00719618 -0.06165859 0.06530513
+v 0.00719618 -0.05927084 0.07400160
+v 0.01006449 -0.05878477 0.07400160
+v 0.01299539 -0.05812250 0.07408663
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+v 0.01785240 -0.05578751 0.07524980
+v 0.01785240 -0.05641998 0.07402542
+v 0.01477062 -0.05786542 0.07317686
+v 0.01000349 -0.06107633 0.06537316
+f 1 2 3
+f 1 3 4
+f 1 4 5
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_56.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0fe2415eb2a6c785476d942c1ba95727ec23e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02964380 0.04988101 0.05974292
+v 0.02964380 0.04988101 0.06074292
+v 0.02964380 0.05129425 0.05974292
+v 0.02964380 0.05129425 0.06074292
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+
diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3593c832fd5f36aa07e82112cfff3a554d35e50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5e04195433d54476c1d2835f6f277eaf82ba1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_7.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8ecffa1ccc4b9e54f097258d12d26ebba777353
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_8.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f98a6b2b5378f77a49820a856ee47a4b275bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mjcf/mesh/purple_cup_collision_9.obj
@@ -0,0 +1,337 @@
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