diff --git a/.gitattributes b/.gitattributes
index 6b1928f0f98fa94c9d4ed7f150563b590bd682dc..ceb23f055745cfb54d961f110e6a790961ec9c74 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4817,13 +4817,6 @@ dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b28
dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d01ee849141f5c0aa655935986ab4d79/mesh/mug_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d01ee849141f5c0aa655935986ab4d79/mug_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.urdf b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ecf9dd5a60542ede321037b22751cb7417c98c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.urdf
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+ purple cup
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+ 0.1
+ 0.15
+ 0.125
+ 0.2
+ 0.4
+ 20260120065006
+ mesh/purple_cup_gs.ply
+
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+ 4.210586071014404
+ NO
+ YES
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+ 4
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+ affordance/affordance_annot.json
+
+
+
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.usd b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc8e37502633f40541f9f249315a4fc35b9ac7b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ac5fb88ab5132d654755858a04dad3add964934ee0163f67d5b86f100e78d59
+size 551085
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/material.mtl b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/material_0.png b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..14b8406f0cc583ee775aef0f93a200920660727e
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..eade37a4b8e3d6be27cbf45dbaeda7b074b8a03c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7492e96b1a8bd23edb333722271173d2523f693c27445abadab6e7f136972a5
+size 1748476
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4dd003ee4c2a67df961bb7f88d3284dc61cb955
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.obj
@@ -0,0 +1,34030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..089b517eb6d9bd0e370561e656c6aa70e74e73db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_collision.obj
@@ -0,0 +1,25913 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_gs.ply b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_gs.ply
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b7f2da4cee6f864e731cf121cd4545aaff31fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,25913 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c528a0c137b352f32a4b737abdd63bac0ba28c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9debbc82f7cd7c58d2a3a18dd802945e36cdb153
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_1.obj
@@ -0,0 +1,877 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77cba867f3737429c20879e32d5ba81fdb76b257
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f773bbb67e0877b48bc002841eddc9392d4296e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fcb6f6a14948061c1f236b7fd42d7da0cb06dc9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_12.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42af08cce92dc15b770c512a79c07dc81a55cfc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_13.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dcf1bae3dba7252b6b13442e6dbe9fdf0d5a037
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,802 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba8e0f8d998c9bc87069be618f280b32ebd2044
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80465412af9f64bf40a65b0bf23d557b5690b5a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_16.obj
@@ -0,0 +1,778 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a95999b19a6df1e256f1a1eed812f12ed6d9bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9d824a130dcc946b55fe7fa0858add08d27efd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_18.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce05e17b32645576436f61ff4fbb761b529b0032
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497aab2a210f8f82316416ebfc19095d754c18a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,1168 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60cc0ddb7ddb710f8472da23ee04b3fb90a0876
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbfa729ef948630490325ae554906849e69f628
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd70e8707b657acc7ecbb98d932f51978a1ca53a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_22.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8719245b47a5604289e045fb71f9275beaca6605
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_23.obj
@@ -0,0 +1,865 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edea6ee75888438d13f3db478b379ae50a498fcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83140048c33a19be050015f7fc62183ffcc133e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_25.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4853396d0ef7cf56aa3f106a5fc4e40944c9a488
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_26.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44f3c8b69186aa58839d43e0c27609c9fc924d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2fc06bb013e34d201fc5667328f1eaf0898b13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_28.obj
@@ -0,0 +1,910 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17e4f9b0829905067a093e888765955b3eaa45f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd76d45aecc0bbf40deafda2e7a1371016ee2b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee48397a37dcf76dee4e7e0f5a45c6d7288bfcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_30.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0167e0ae2a6a04d046cf05a3cbd9fa0602fe85a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_31.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5562badf31234ec23992899d10edd34a00ed126e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56aa67f8f6cda11e1c8c8729081ee7dca0525cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56e6be08dff1cb4d6ebe429bb5e492b94750911
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ccb0ade58b5072c111732d8a536d7960ab17b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b5cd04cfdda522251f50de2c8519035562a512
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_36.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v 0.01988091 -0.01202133 -0.01351425
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeda11064ce85868c143fa68ee69a9a8636e7ba7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6adf3c8d26edd48260df77a8a3b6974abd58eae7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_38.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bdf7b02666461f439ddb838db61f5eeab450832
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74662bc9c59bfeeae95d30e9b3601c9e88242f9c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3f753731aac6ba96e846dd7942803a1b82c47f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_40.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_41.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f098778433e091983bd69c48370c7e70ae5d3db2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_41.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_42.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46921e8f97d5f917d947158da3183282cca69652
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_42.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_43.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7213e0728b077e2b26baa3518860b2a3aaee0603
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_43.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00908878 -0.00011913 -0.03885409
+v 0.00352052 -0.00011911 -0.04353469
+v 0.00908878 -0.00011911 -0.04353469
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_44.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed8ae456a8c6a15131486d5ae99b4619d9c7746
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_44.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_45.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ed3b04c8885dccdf5d76eb15e4c3a40d48c592
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_45.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_46.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc9c5af6463234ea78f0df09c29a6f839ba9555
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_46.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_47.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d29704c09501727f6159c205641fd2dafe6134c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_47.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_48.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3f0b3052f95c774bfd8d86a0acc4970d96f575
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01221454 -0.02912540 0.00546480
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_49.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e7b36a8c24bad0f88b958a2d6f042cb0e4ed69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_49.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bb25765e2920d3c69161dc4c3819d8c3a3701c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_50.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ec3ebb22a09c0f56d94fe2f22f865fd60b6d8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_51.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b60fbcb22d7f6f5e5dffd9e5e54534feb8995d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_51.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01221298 -0.01764016 -0.03040149
+v 0.00773046 -0.01764016 -0.03040149
+v 0.01221298 -0.01764013 -0.03876764
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_52.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35234bb2e81c8e23b1f24c4d5c0de1405aa3ce59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_52.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00149472 -0.04362844 0.01341615
+v -0.01408959 -0.04362841 0.00516645
+v -0.00149472 -0.04362839 -0.00059905
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_53.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530af2e48e3c87b1ea25df8311030d4313e56e05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_53.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01221320 -0.04362852 0.03631212
+v -0.00149337 -0.04362844 0.01341317
+v 0.01221320 -0.04362845 0.01514867
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+v -0.00149337 -0.03141276 -0.01003530
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61affa86320df6deeadedf37db46bbbfe8c6581d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.06839884 -0.02228402 0.02019053
+v -0.06839884 0.00002531 0.00829188
+v -0.06839884 -0.02228397 0.00584586
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+v -0.06839884 0.00002536 -0.00443024
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+
diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..965985c1bd3304a806c9fa243427812facddc3c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_7.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da263e90b4298495ecca36a8207496712851efad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_8.obj
@@ -0,0 +1,1012 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6385f506887f9ca2643c8636afff2fcff259f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mjcf/mesh/purple_cup_collision_9.obj
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