diff --git a/.gitattributes b/.gitattributes
index 1383176aa0b340bc54c9d674ff2aba8c905e21d8..e344dc88dd96273e68ab6cc3814de05d6254f758 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4676,5 +4676,6 @@ dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/wine_glass_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/mesh/mug_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/mug_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/coffee_cup_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.urdf b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2007b096c070f1876eb912c994f20cd7201b461
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="yellow_cup">
+   <link name="yellow_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_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/yellow_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>yellow cup</category>
+         <description>simple yellow cup with a slightly flared rim</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120142344</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.487321853637695</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/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.usd b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ff9e76f00b88034d7710e4be3528f1b9f28e0304
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc336b5b55a7f1710ed6175ad7d7d7a978313a69538c00a3477da777e5d6101
+size 1202213
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/material.mtl b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/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/381cbca07e2a59bfaf277df35cd05fbc/mesh/material_0.png b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8e36c95319de24f2c37478c49909fa87d790aa2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79797c67884a9ff8985a5cfcbac0c9bc8db75a2d9d29637e894916e00c9ae549
+size 1227140
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..788ed58f7be5e032f5aa43bb4aa29bb247c8dcdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89a2569c9a7dfb4474b0600db0b0879caf1e655b4f0c21bf23180f3fed681431
+size 2050112
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8250e1180ae96e8778af6d42968170cf96d7950
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.obj
@@ -0,0 +1,75360 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df81966ffec48177a99a208365ea4ca83b795704
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup_collision.obj
@@ -0,0 +1,13352 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/381cbca07e2a59bfaf277df35cd05fbc.xml b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/381cbca07e2a59bfaf277df35cd05fbc.xml
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1227140
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08eef7a27e696de0141c2345eacc0b9267355ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_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/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64c6fa16808ecf1750e3e49097b2d2c87bb40a63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,13352 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4647714dbf8f5fe13321f8bc2e705abf82baace8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_0.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d3c2e4ae0ff34e1f3a596ff6e4521e21326059
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c463adf4818f86fb32b431f07af38219450400
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..824664e0af1a31d72bd19c797d900ffda0627530
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ece5742f8345486efb2c826bf0b7441346a3c11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_12.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b546f5ba7ca96f450d15952cb15e2aba8137fbe6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_13.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a4fcc99aa74fe5c21536f9ff0ddb6757853f5b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_14.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b137e5287c1759cad5b7afb73cb0d6dd6dc1ab8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01349493 0.03520267 -0.04461480
+v 0.01349493 0.03289148 -0.05497561
+v 0.01349493 0.03990459 -0.04461478
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+v 0.00518501 0.04178065 -0.04461478
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+
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3feaf6ee05afc78be3b0655f81b6a7a92a80805
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_16.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.03114222 0.02482993 -0.04768584
+v -0.03124338 0.02496092 -0.04645045
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+v -0.02908476 0.02570851 -0.05526739
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+v -0.03519017 0.01639047 -0.05129445
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+
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e90bbe68621d1997f52b4415f6fb2119cdd9c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_17.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01910501 -0.02889536 -0.05559351
+v -0.01910501 -0.03151445 -0.04462744
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+
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daff5cbc70a6d2f8dbc759b07ef3fbb2dfa8f327
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_18.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01544308 -0.03064571 -0.05559714
+v 0.01613060 -0.03342855 -0.04461734
+v 0.01613060 -0.03096664 -0.05559391
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c0480007859508127577cd131fb81f6e1c1ee9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_19.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a72ef88a07e65d5b5d35954434053bb2927c56b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_2.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66643d3c56e51f132221738094a8a3846cdab0b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2ec51a2ecb58a66ce59b915cca324fad6e8ee3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_21.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad83b1c47500db50ccc285c61194bc17f65fb73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_22.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d84831d7bde2abeedee61e8a4a2c5f237d1670
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a99f71a8f0f0635e5d2b69fdaba339147b75aaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848fbabd6af2040860ca6f67fc38f3a247b183e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27dc6848df62b832ce60812b47b41dcef19e9ac8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_26.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bebb1f7739cf217841800f5d7833175c4a5174fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a33fc6db1404aedfef9d53b51637a1b943ee50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_28.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7064b1eaea4d66391a1d7c12d3973e370f8fae2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..389f87aa3abbc9b396c1a166591b8755e30e4d1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442206020772f5f723d6e8cef4d08892359e9a30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_30.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c29db5f3d3b173fd75f5933cd52e74a7d1791c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400cee4699a42095a9dfa7911c9fa66e47ba505c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_32.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11eeed462a349cde2777c9f60fd5fcc13cc99a98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_33.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df777e0165304e861bb37c44addfe6d6de01c50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8efce6e6d06ad50ed729046cad6273233bcb9b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9909481305b00f9390532c06ecc3c150714889d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_36.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f68d6f64c7f1383943c780fe4ef3480b60f70f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_37.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+v -0.01548316 0.03992465 -0.00083249
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+
diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5cd901ae85cdb71769f0e4feaee40f9e8afca03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_38.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.05185447 0.02386283 0.06098070
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+v 0.05184634 0.02388567 0.06098070
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e395dfdbfc10379ef683602db6a1c4be87b1f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c5381dea2a0525d25e8d6087a907fd79dd7d7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_4.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3687f2172514a4c8d44316900b885c0ceb700c5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_40.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7511face804e0c187d4ae96ada7fac94807218
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_41.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4887d167c62c835cae0f897a03305e82c436ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_42.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f178479282674b23f186d5d3b94ca1a24c5895
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_43.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b16ade1a37d2aec910101425b6c567a1af687
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_44.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66cc2e60845daa400a6580f972152fa75d2731b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363a591374030d826235c125d43aa298fb0dd858
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d19201220cabd74be32e038bf411c912f29ab595
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_47.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aea31b971c070059b045273159f0ed7f2072d89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed573fe145f4ffacc8fc5f9964516e6e04affbfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_6.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc61434d7b86dbf52dae2651f5c54f6496f4522
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_7.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254bb41db9ae1ab90475fbe2c33f297df1859e65
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mjcf/mesh/yellow_cup_collision_9.obj
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