diff --git a/.gitattributes b/.gitattributes
index caea72854cf367165f5dbf0f8777e2b110d07efa..ad89b642d6b938c0c85c1ef66ccee9524755549b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4654,3 +4654,6 @@ dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/mesh/cup_gs.ply f
 dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.urdf b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..51f7ca7725a1f31f7bd44decc79ec2bfb250d4a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>simple purple cup with a wide rim and tapered body</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>20260120065357</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.440648078918457</ImageAestheticChecker>
+         <overall>NO</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/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.usd b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d3ff276d097646bc8ddb4280aa10a33c5fdb3acd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d956febc7e4307310a62b0bdf45d9b490c8ba9ec041164084c90426a3d5a20
+size 937115
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/material.mtl b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/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/1ee67f9304355ffab2fd5d831ad75085/mesh/material_0.png b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c43679b539129e5091d625ab840150f8ba72526
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd8b5bc7e5d083e79d6d3286d512726c2c80a12cfeae994abcbf43fb1c20859
+size 1398724
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..04ed0269b08d00db853a78b011add2b9eb7c8c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15922951f04b764a31f315e594e4d68d528e7e09ee0b562b06cb0a0118ca6552
+size 2030776
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852bac05f609a1e87a8c524f229969813b62b70b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.obj
@@ -0,0 +1,57738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9e9b3e613c7289737ac84310f71c97963a82bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup_collision.obj
@@ -0,0 +1,20421 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/1ee67f9304355ffab2fd5d831ad75085.xml b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/1ee67f9304355ffab2fd5d831ad75085.xml
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02ae8def041dd4802b17b6db8587cdada1b8725
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/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/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedbfc98d825ff74c8726345b0eda91b095f2071
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,20421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06a722abb4883de8ec80ee54f0d5d4cfdf33a6b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a31c7dab7361efbfd2e177e15794135263c1b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_1.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba68df3afe48d82733c82ba6af4acd752052916c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c72120598554b0eec5d9a24da3bc0e8a471bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_11.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9a9403006d50f59f79d4f27e75473e972cc821
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_12.obj
@@ -0,0 +1,769 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b1f37e8e61a0caa89b4a1897a35d9b01e46b11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_13.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15d3e50e2e2a3ea08c3efd1404ed500dd48ebd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95de16472de5fa2273ee4a83005186e102d3567f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_15.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1dab52ab85ed81250f0701a82ac4df657001f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_16.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4d91b0589ee4cf8be9479f6a06ce59a593c4c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3e866058ce2cb378e3cce488c7fa7b51534b6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_18.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9004d5e7061d247bcdfebef5eab0cdb6152c7833
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bec4b8e1398c61e2e2b3ca831ca2cfaf404ba6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb95f13e5b5027fcf40fb2da93109a5bbc1286e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_20.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c6a3e1ba93289359b35043a702d89b2bf8245c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b4b4af9667b21c06de6beb5d9d9f2d570b0852
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6391084503dbb167df08602c4b7d091d0c6b547c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162cf825c4b4eb6e9d470d3fdd543179a6f3ebd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_24.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b3486efca24ed099ee07b0d5f5753ecb00ce04e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_25.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07bfff673e97cc0c47a9e8a1165259a1b7a1bc81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15925126008b05097aeabd7f56c7fbead2aaa8a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_27.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168184dfb353897766b299e41a49de9c8f6938f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b85eda125f27f69a1d44eebeba918103521e63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec94339a0b6492e304b476a52feec333505a3c2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bfa7caf23c36a9555b766a4e37e495b7f17a190
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f392669b59c32202861d9fc802b1e1a15f76dc2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ee071aca3a73b224ff469e0c271a69c98f30ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11ef07b722bc545ec241a594513aaa7b5e4f89e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..179917e311344687b0137f939a76dacd0b93fb97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4938c164daf7f7d2dbad9160c704ab5ff269d737
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_35.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2b2d4dfd452ec70f9e4db1f2ebefc1658374cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceed41646996504942528f1f2242233705af8403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834b74baace25c92b7df882ee16a07b5d18ec086
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_38.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58eecf721fc8654130f971975a85de8983a85ae4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_39.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59fec064664d15ea6743679dfb673051564a0e49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98bd3ec6c6ccacd4da8851a29059c098b4c0e8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_40.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_41.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2e2f4fd779485f30e3168637c894e73e735a94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_41.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_42.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f762c8a8b6d8f328a9bd19849ca2fb0a9131713
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_42.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_43.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a51ac1db8dc0a10136815ce0b0ee63d973c808b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_43.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_44.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7b9c0e38c5dcb73ce14c19559c32b88c6f5272
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_44.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_45.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eebbf70483cb90384431fbd85a17d944064ea98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_45.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_46.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f82de064036c9bf8c3e1eb17d10ba501cdbd3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_46.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_47.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a839f3b3b9fc6114b32ef380779d2c53b0ddc4e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_47.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_48.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84316a79f33873038beeaec8484b0edbdc9b433a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_48.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v 0.03333813 -0.01753324 -0.05837191
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+v 0.03315072 -0.01789886 -0.05837192
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+
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_49.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f114795ad29cd05aa6a858eaf7adf94d98165
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_49.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.03376757 -0.01089192 -0.05900890
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+
diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7963194c9c79db9ed8bbe64a391ccb51875d70f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.00051397 -0.02508933 -0.05813777
+v 0.00051397 -0.03273474 -0.06185659
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_50.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb76a2cfaefadbe194b6e250bbadaf17072cb4c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_50.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_51.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e1cec4d20d25ee480e4a30c6d6ee5f1d2948b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_51.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d738127ecb2c5b925a1b43790782fdef29d743b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,640 @@
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926f4ddb55bb87ec7de32130b3150bce4b38268f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_7.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3aab4088f71e8d63daf43221704cd1d24c0eaef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_8.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9044e2603cc6b6cb4622182300f401115e8fffc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mjcf/mesh/purple_cup_collision_9.obj
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