diff --git a/.gitattributes b/.gitattributes
index 2129ecf020572a39ef830b832214acf69f75b919..6bd83a0c6a0620269f2d468312facc6e6d908239 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4788,6 +4788,6 @@ dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_
 dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.urdf b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..761de6d625963e3e4b052d29ebc949d90f42b86c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.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="0.4000" />
+         <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>plain yellow cylindrical cup with a handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120140127</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.565971374511719</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.usd b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dfb9516d93a0b63335e49d08f0c18dcd10c7b8b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/bdc94b1083f35664986413047958d238.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d827105702779db6e13995051cfa29f763f20a3dc961932631bda145346d643e
+size 1076505
diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/material.mtl b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/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/bdc94b1083f35664986413047958d238/mesh/material_0.png b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c17aab061aa96f461c31542d7d5eee5e2dbee536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2597a5b5d337259559311c04f9eeff144bab45157b6b5c9f9f5e665e75a07bab
+size 970887
diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a2b6569457b41c8f6ef4e9bc57c4c349ed478ed2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4aa3e29164b44436f31b72a4b4038e211610cb08c55f0aa644e3dd616084ceb
+size 1687052
diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed75d0cfb034ddd97de4af3fa106ca6b9286b173
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup.obj
@@ -0,0 +1,65232 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248dd679d2277c545ab6ab26c2022b63bd66e21f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup_collision.obj
@@ -0,0 +1,30899 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup_gs.ply b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mesh/yellow_cup_gs.ply
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/bdc94b1083f35664986413047958d238.xml b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/bdc94b1083f35664986413047958d238.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c25bdf26c7cb2ece57c18596d96b5e8c6ed4d632
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+    <mesh name="collision_mesh_0_45" file="mesh/yellow_cup_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/yellow_cup_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/yellow_cup_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_50" file="mesh/yellow_cup_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/yellow_cup_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/yellow_cup_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/yellow_cup_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_56" file="mesh/yellow_cup_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/yellow_cup_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/yellow_cup_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/yellow_cup_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="yellow_cup">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c17aab061aa96f461c31542d7d5eee5e2dbee536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2597a5b5d337259559311c04f9eeff144bab45157b6b5c9f9f5e665e75a07bab
+size 970887
diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9d28e67bacf05a0c705411f5b32b8ff5681bb80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup.obj
@@ -0,0 +1,65232 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c8de09d1f82d7b8181d68297566b5636465178
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,30899 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87a3dfe14692c70951b8f62e9b85537bbd815f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd54790dbacd040d5042b1b067215bc124a3bbff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_1.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dec3da8d6df088a207113b5776c3e5669ddb4b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_10.obj
@@ -0,0 +1,919 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af38dbf92c188fcb4bd68935473dfdbc627ea0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3075c855863c1c8ea0ed459ca36a47c250e2b78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d0ebea37ce27d56ba5e16a7fa070c3f05ce403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53be8066fa714847900110e21972e738208ae5f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b28a81ded099e8578061f649d820595a1a5309
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed73503bf1a186c51300968b1f4b0749f8c1f787
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_16.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c0dba2b03c5ce1e83538260b6b2b8e1b98bc1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e87ae37dcd8d4343f7b01b3f39232549dc64bd61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_18.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125393839f71ed8b1af1a24727616c0caa22387f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_19.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a5db7b2c9c59df4f9588f93789562aa95b2e46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_2.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..214dd65e03ff87e978b8b8aa5eaeada48aaafa03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f288e177c4eeab350a2a87fe0b8e8b858787fc68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51b86c4e5bf32f3f66b9d157c890142311aa3c0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/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/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2040447054ae7c61de9bf3919531c1f8bf74330
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.01000803 0.02332164 -0.05768695
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b580c14036901579c3d39c2ab0d0c9cf4aecbe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5034f3b1e887ecd0e04079804be71d0a08f7a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d966075696f042e50bee0938cd28faad333bc27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_26.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d139f03bd5e4d4d98751c6b9f91618bbfaf4db7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f918dc8037d9ab6d65d7bcf26a59ae34422561e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_28.obj
@@ -0,0 +1,1222 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d3351523f034ce78a5807f1830466630a6e8f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4c8325cfcad7b49b18f4653cd53fc0490ce41f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_3.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33be0c81f7948bd6e307de6e7bbbf4b75c264be4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53b659a03b01f54aa3c0642f9387f751cb3b526
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7fe3aff1ac40968057800945e4b6c16a2e16c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f939d969085d9b5f2e2d046c4bc9743ef3e7362
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0cf9dd3b6d18eb51ea208dd5aa6bf81b10ba2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c61274bb249cc3c5403bb4dc6789f34e906c124
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,886 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343677c1625163f62458fc286ddb5e0f892252d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_36.obj
@@ -0,0 +1,883 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7f694895adb2e85153dc93c9f523086c5a0ab58
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eed5bf68ab8fcca58bd581c61e4a97238645b45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5735599d24af00fa3a45ce856ac38e946a08b9f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,1513 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0cc16658e30755e038d11f71cbe8b32101c58e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_4.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f272bd3a81b587a40ca0cf0e6d168bf53b61d35a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_40.obj
@@ -0,0 +1,1450 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35962d2f6cd38414696865767fa81a6a339d1075
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f5e65f35de1be9f8ad0a68995c03c698e0ec74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa615adccc916f81292b6ec881ec43d71e7755d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_43.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7cd10058f783980af8f7a52736815664103329
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_44.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a814d90474c7ab847f19c6d7b42240bae00006eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cea9d9f79e5a13745e6b4941cfb62308a941ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2a8d0a14a325b5c40814f83ff3f614bd4a264c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_48.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aaf8c4c88f2508516b0415fbfda11f312a9bf16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_48.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_49.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef655b3a8b9a0d214b919a34360c841a58b47c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_49.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18dd916947923f119ceda754b7c04b4b02cb76e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_50.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80c954673ab5847eb2827561c8c68b262c0ab40b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_50.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_51.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3378700013abb909f3d01899ec3400b28774ba9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_51.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_52.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd7582ea8603a2aa0e10cc841c79e80a9810ebc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_52.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_53.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3075e3ebd166aced57aa2c5f01d17a669131c26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_53.obj
@@ -0,0 +1,1159 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_54.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7e55df4fb5c0cdba562ff5c717aa49646d7834
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_54.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_55.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fad9cecc34bf2f2d83c9e0e4299394ff3399ca9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_55.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_56.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58e23ded176acfda210e230f21994d3ca70ac4b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_56.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_57.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904980ce38ffb81045811448cf1262afa360dc16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_57.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_58.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30985337dae58e8b9a1aec18528852207d853571
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_58.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_59.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d718538dbaf731673cb1475b740e99c51fc3cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_59.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fd68ace97a7d830bacfc1af7cf94a7511852f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_6.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b5d65834725c5b3d0604c4a0814109b6c87b90a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d125a3cc7ac1d69db57ae64ca7170e9ce170c332
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3720e79acc8a3c8893d3bb2f7d49e1101e9084d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/mjcf/mesh/yellow_cup_collision_9.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/textures/material_0.png b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c17aab061aa96f461c31542d7d5eee5e2dbee536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/video.mp4 b/dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/video.mp4
new file mode 100644
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--- /dev/null
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