diff --git a/.gitattributes b/.gitattributes
index 7b40270f8c0dc3968fe815e27c820155b5f0bd39..0b0869b68f783b07f89b03d176506a7e271fd1ea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4705,6 +4705,6 @@ dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/mesh/thermos_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/thermos_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/5c446c0ebe1b5b3bb6b2bb2000bdf962.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.urdf b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0172ca2dec039a415870238ebc8111ae7fe85da5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="purple_cup">
+   <link name="purple_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/purple_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/purple_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>purple cup with white polka dots and a 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>20260120064214</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.579867362976074</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.usd b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.usd
new file mode 100644
index 0000000000000000000000000000000000000000..13a61bd78f87425a65416421242f470c56258db9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da93cce426c81a225a8f0c318b60fd0252298a0a5ca75e3171a6683c74e042d
+size 1065951
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/material.mtl b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/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/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/material_0.png b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c56870d23dd600d9b0663b33fc66038b4a87a509
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac50446423a5961b371bb8bbf6f860ea96e2495206519be96558e6b1a797d45
+size 1578900
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b6f7301fce53643a3bca0ffa26f7a99a40d9c12d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdbb0450cc7275029cc927c7e7769f9e34439548db9a2b2addd5fe91e348d628
+size 2292312
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d21366492e0c2c45bf98e6de6c6a23f5ea5f7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.obj
@@ -0,0 +1,65100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af5b305b7bce045882e4082197d1118bff8ab82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_collision.obj
@@ -0,0 +1,21024 @@
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+  <worldbody>
+    <body name="purple_cup">
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+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac50446423a5961b371bb8bbf6f860ea96e2495206519be96558e6b1a797d45
+size 1578900
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17580963468456df739b74f68e8b28d89abaaf5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0cd7fdb9d574f6c79188de9792540875994610
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,21024 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3adbd43df227fd27103beca4c18ebdeccceafde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc2195abf6eca84e596c92ea686f7df2a002667
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06322694f4728d5646180067ff7976d6eabf3f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_10.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0bb51ea3f280b9b8db447f52a7eedeb642b6ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_11.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9502c7e440519178333f24cc5cc1c7ef309e1f1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_12.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+v 0.06011695 -0.00014123 0.06070641
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8866ef816ba4ca7d57e2da98bba0ca5ba1f0da1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01802376 0.01610713 -0.05662579
+v -0.01809209 0.01567434 -0.05662579
+v -0.01802376 0.02135182 -0.06242466
+v -0.01802376 0.02908214 -0.05662574
+v -0.02415253 -0.00000558 -0.05662585
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+v -0.02691835 -0.00000556 -0.06221776
+v -0.01802376 0.02544904 -0.06225115
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+v -0.01876201 0.02858387 -0.05662575
+v -0.03318972 -0.00000558 -0.05662585
+v -0.01802376 0.02367804 -0.06279233
+v -0.02755856 -0.00000556 -0.06248744
+v -0.02816015 -0.00000556 -0.06273946
+v -0.01982704 0.02361540 -0.06240395
+v -0.02316325 0.02487672 -0.05662576
+v -0.02120549 0.02668758 -0.05662575
+v -0.01986120 0.02776955 -0.05662575
+v -0.02117133 0.02288365 -0.06216168
+v -0.02976141 -0.00000556 -0.06249109
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f568569062f27278d3bd7611227277c8d631e9f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00082174 -0.03518240 -0.05655162
+v -0.00013708 -0.03515698 -0.05655162
+v 0.00071346 -0.03275137 -0.06107744
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+v -0.00134915 -0.03510614 -0.05655162
+v -0.00134915 -0.03167111 -0.06249999
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+v -0.00341176 -0.03155673 -0.06246138
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+v 0.00082000 -0.02592492 -0.05655159
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+v -0.01702045 -0.02552004 -0.06235698
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16200110c2fbfb4012403de6188a6746bfb8a280
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_15.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.02146361 -0.02430476 -0.05188186
+v -0.02405583 -0.02430479 -0.04476743
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efca1b66e27507a8c827642ebf45b8f44cca5f8d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc3bbed9a6454bf0f5710453e4da2c70ca81b57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54ab3ee655ebf3a8ddc77dce33b532837b12d2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_18.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa5807e6eacf2faafcffedfcaa2c81f2a62b4029
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f871304dff98727b8a7d575f8c88eb9d746bdc9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04cb66908023e0a047bf0c12e98d988431688b0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_20.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7edb25e42e6c7ef14632e9cb7959d8d0a1804d23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92ba08725d798eab5faff5cff183d9dfad545b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_22.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c33f6df7f67d3e1aec2006cd19cc4375763e2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_23.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad0c3a3fad46916c79299d94ae0f2f9b7fd826f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f9d3bdd80cd2080f76b6f6e085cd34abbb7618
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_25.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5971dba29c99fdc18167dc795d98f32e5477c50b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_26.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65be1e33804934b5425fbc2a23959862af3a56f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_27.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69816a100cf1ccf8b1199f9aa15c5971a2c4b7f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_28.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a7d234db76ded7f422b7514e7fe3654e4d13cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_29.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa8fbff017d5a70ea47abcccb1e01854418182c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_3.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9eb9427fa77bfc371a5551dba52ba78790b07c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de78dc6b4303a5c9d840f8073885bd0f6ed8e39e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_31.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5f0ec0c9a7ca5e97825d4615470c9387c2ed5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea5aa6816d2806489a608f0ef6686da9eea3ce9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2dbd4ac738053670fbe6a6b8fd2ccac9e36b50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7c922cac7fd11520911f754b7a8e4a00aad9de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19bbdd89f1c1bd68c93d7283aa5e74ea334c91db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_36.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac60ecc01b15cf5656c42db91fc247b85fc17d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd81256d4c4ff3218cf31a136f30cb30df9c22e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_38.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b8528dd7e99ddbb54947ce309edcf94b633163
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_39.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0a1b1fbeb8f3795ea29ae7fffb18b72bfa384d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_4.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3e37bb73e3b23e463eb32e9dc7cd07acb570e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_40.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_41.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4953c4315e35f78f36a437a4fa043ab1e43748
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_42.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc7d213b6bdf88c20bd2b52ed75dc232686e3bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_42.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_43.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7611a4c2d27f18bc62bdf5d604919cb6556d349
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_43.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_44.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e4348b93cf6e85d045dcf71bc3e062fa70608d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_44.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_45.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a43194ef0037c046aca58e6d7ec50e2e57fcc5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_45.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_46.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983239196859d3c86690bbbfe0956ac423f566db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_46.obj
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_47.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c08a3ada013ea9ad4bbb55f0445428b8a9f009
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_47.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_48.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e1047c07a6fa73af18eb01c923c2be860ed9f9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_48.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_49.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee0c8be703948d42318b061f15f0483d1f59a93b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01802228 0.01610960 -0.05743952
+v -0.01802228 0.01610960 -0.05643952
+v -0.01802228 0.03547217 -0.05743952
+v -0.01802228 0.03547217 -0.05643952
+v 0.00082174 0.01610960 -0.05743952
+v 0.00082174 0.01610960 -0.05643952
+v 0.00082174 0.03547217 -0.05743952
+v 0.00082174 0.03547217 -0.05643952
+f 2 4 1
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+f 6 8 2
+f 4 8 3
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2071e84e67de8695bd0cb91273708528c7df0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_50.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d31c0127a8a2f5bdbe26b14d090789c414538d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00082174 -0.03525664 -0.05741892
+v 0.00082174 -0.03525664 -0.05641892
+v 0.00082174 -0.01978100 -0.05741892
+v 0.00082174 -0.01978100 -0.05641892
+v 0.03080781 -0.03525664 -0.05741892
+v 0.03080781 -0.03525664 -0.05641892
+v 0.03080781 -0.01978100 -0.05741892
+v 0.03080781 -0.01978100 -0.05641892
+f 2 4 1
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+f 6 8 2
+f 4 8 3
+f 7 5 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_51.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee973605761ce72cd9cdd7dd0a0d766d2a8d1b3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_51.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.03577309 -0.00013793 -0.05753340
+v 0.03405342 -0.00013792 -0.06093727
+v 0.03577147 0.00044751 -0.05753340
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+v 0.02903999 0.01543380 -0.06234718
+v 0.03267832 0.00820182 -0.06196118
+v 0.03536380 0.00499333 -0.05753338
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+v 0.02356389 0.02569631 -0.05753331
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+v 0.02870026 0.01671088 -0.06211947
+v 0.03359235 0.01118643 -0.05753336
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+v 0.02553108 0.02376491 -0.05753331
+v 0.02560387 0.02368743 -0.05753331
+v 0.02747562 0.02163550 -0.05753332
+v 0.02946869 0.01915596 -0.05753333
+v 0.03152648 0.01549118 -0.05753334
+v 0.03163002 0.01528455 -0.05753334
+f 1 2 3
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+f 39 50 42
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+f 40 51 52
+f 41 42 51
+f 42 50 53
+f 42 53 51
+f 43 54 45
+f 45 55 47
+f 45 47 46
+f 45 54 56
+f 45 56 55
+f 47 55 48
+f 48 55 49
+f 49 55 57
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+f 49 58 50
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+f 51 59 52
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+f 55 63 57
+f 57 63 64
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+f 58 65 60
+f 58 64 65
+f 59 60 66
+f 60 65 66
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_52.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89307b4b95135884ccbb4785affd4321309dfef5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_52.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01722185 -0.01978100 -0.05737569
+v 0.01722185 -0.01978100 -0.05637569
+v 0.01722185 -0.00014080 -0.05737569
+v 0.01722185 -0.00014080 -0.05637569
+v 0.03696418 -0.01978100 -0.05737569
+v 0.03696418 -0.01978100 -0.05637569
+v 0.03696418 -0.00014080 -0.05737569
+v 0.03696418 -0.00014080 -0.05637569
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_53.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4e08110b77853e1c7a71d1815d7a50a3bcd640
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_53.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00071660 0.03445880 -0.05725321
+v 0.00082174 0.03445734 -0.05725321
+v 0.00071291 0.03274971 -0.06136158
+v -0.00134930 0.03442231 -0.05725321
+v 0.00082174 0.02770848 -0.05725324
+v 0.00082174 0.03274826 -0.06135555
+v 0.00082174 0.03269425 -0.06142196
+v 0.00082174 0.03171637 -0.06252466
+v 0.00071291 0.03171783 -0.06252466
+v -0.00134930 0.03167404 -0.06252631
+v -0.00341152 0.03156166 -0.06251149
+v -0.00134930 0.03270592 -0.06117003
+v -0.00341152 0.03430117 -0.05725321
+v -0.01802228 0.01954972 -0.05725327
+v -0.01802228 0.01956724 -0.05735317
+v 0.00082174 0.02883088 -0.06198458
+v 0.00082174 0.03162150 -0.06252631
+v -0.00341152 0.02987298 -0.06276728
+v -0.00547374 0.02987298 -0.06286059
+v -0.00547374 0.03138068 -0.06242696
+v -0.00323260 0.03261105 -0.06074739
+v -0.00547374 0.03213816 -0.06093730
+v -0.00550510 0.03390856 -0.05725322
+v -0.01802228 0.02787925 -0.05725324
+v -0.01802228 0.02049404 -0.06093734
+v 0.00082174 0.02981752 -0.06251150
+v -0.01802228 0.02067504 -0.06161850
+v -0.01802228 0.02135518 -0.06242480
+v 0.00082174 0.02987298 -0.06254004
+v -0.01784704 0.02368604 -0.06282932
+v -0.00753596 0.02987298 -0.06271843
+v -0.01166039 0.02781067 -0.06281669
+v -0.00942847 0.02991531 -0.06241435
+v -0.00753596 0.03110482 -0.06218711
+v -0.00552723 0.03390418 -0.05725322
+v -0.01683438 0.02679338 -0.06198403
+v -0.01802228 0.02618183 -0.06097025
+v -0.01550261 0.02969490 -0.05725323
+v -0.01802228 0.02163978 -0.06250988
+v -0.01802228 0.02368020 -0.06279200
+v -0.01578483 0.02574836 -0.06274479
+v -0.01166039 0.02924685 -0.06232982
+v -0.01365989 0.02785738 -0.06247474
+v -0.00862978 0.03092822 -0.06200049
+v -0.00687376 0.03343275 -0.05725322
+v -0.01765152 0.02564765 -0.06229306
+v -0.01802228 0.02545207 -0.06225080
+v -0.01292945 0.02896516 -0.06210697
+v -0.01578483 0.02710572 -0.06223268
+v -0.01141875 0.03175721 -0.05725322
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+f 42 48 44
+f 43 49 48
+f 44 48 50
+f 44 50 45
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_54.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb0a09a00701a3ba274677de2ce1371460bd716
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_54.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03602506 -0.00106744 -0.05722881
+v 0.03593614 -0.00313028 -0.05722882
+v 0.03405731 -0.00106743 -0.06093730
+v 0.03602363 -0.00014080 -0.05722881
+v 0.03390099 -0.00313027 -0.06093731
+v 0.03569376 -0.00530654 -0.05722883
+v 0.03297305 -0.00519310 -0.06228473
+v 0.03318244 -0.00106742 -0.06244124
+v 0.03318101 -0.00014078 -0.06244070
+v 0.03405301 -0.00014079 -0.06093730
+v 0.03310213 -0.00313026 -0.06238527
+v 0.02923404 -0.00014080 -0.05722881
+v 0.03568515 -0.00537960 -0.05722883
+v 0.03282676 -0.00690796 -0.06213582
+v 0.03146568 -0.00931877 -0.06250106
+v 0.03165213 -0.00519310 -0.06277934
+v 0.03249545 -0.00014078 -0.06255810
+v 0.03165213 -0.00313026 -0.06277553
+v 0.02137309 -0.01978100 -0.05722888
+v 0.02923404 -0.00014080 -0.05722935
+v 0.03538827 -0.00682147 -0.05722884
+v 0.03268190 -0.00828254 -0.06196678
+v 0.03109135 -0.01137968 -0.06237606
+v 0.02958973 -0.01137968 -0.06278154
+v 0.03165213 -0.00014078 -0.06269943
+v 0.02752876 -0.01550535 -0.06275927
+v 0.02236414 -0.01978099 -0.06093737
+v 0.02920392 -0.01978100 -0.05722888
+v 0.03040149 -0.00014078 -0.06222818
+v 0.03332013 -0.01304650 -0.05722886
+v 0.03080738 -0.01283116 -0.06216573
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+v 0.02970590 -0.01348866 -0.06251087
+v 0.03108992 -0.00014078 -0.06248799
+v 0.02340108 -0.01978098 -0.06248099
+v 0.02340108 -0.01967716 -0.06247121
+v 0.02322180 -0.01978098 -0.06242827
+v 0.02757895 -0.01753551 -0.06248370
+v 0.02563415 -0.01978098 -0.06255003
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+v 0.02943626 -0.01959836 -0.05722888
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+v 0.02692638 -0.01919846 -0.06230054
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+v 0.02947499 -0.01954838 -0.05722888
+v 0.03057647 -0.01802768 -0.05722888
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+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_55.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2d975ed528a56a83bb0cdc2d3d0aadc17bf49f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_55.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04114434 -0.00013928 -0.04474499
+v 0.04097425 -0.00013927 -0.04567106
+v 0.04114335 0.00070681 -0.04474499
+v 0.03678048 -0.00013928 -0.04474499
+v 0.04088526 -0.00013927 -0.04613481
+v 0.04097327 0.00099619 -0.04566751
+v 0.04114236 0.00099618 -0.04474499
+v 0.03507765 -0.00013925 -0.05200015
+v 0.03310288 0.01592544 -0.04474493
+v 0.03104209 0.01592547 -0.05200009
+v 0.04041654 -0.00013926 -0.04855580
+v 0.04041752 0.00099620 -0.04855580
+v 0.04094360 0.00215681 -0.04551552
+v 0.04103754 0.00273712 -0.04474498
+v 0.03964621 -0.00013925 -0.05200015
+v 0.03775945 0.01592544 -0.04474493
+v 0.03621484 0.01592547 -0.05200009
+v 0.04018020 -0.00013926 -0.04969279
+v 0.03998638 0.00099621 -0.05061957
+v 0.04029688 0.00305953 -0.04855579
+v 0.04073198 0.00293056 -0.04631944
+v 0.04088823 0.00353289 -0.04521654
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+v 0.03970653 -0.00013925 -0.05175656
+v 0.03964621 0.00023662 -0.05200015
+v 0.03798788 0.01543320 -0.04474493
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+v 0.03656292 0.01592547 -0.05070970
+v 0.03641262 0.01552444 -0.05200009
+v 0.03998638 -0.00013925 -0.05061957
+v 0.03964522 0.00099621 -0.05200015
+v 0.03960468 0.00168032 -0.05200014
+v 0.03986277 0.00305954 -0.05061956
+v 0.04008724 0.00512129 -0.04855578
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+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 15 25 24
+f 16 26 27
+f 17 28 29
+f 18 30 19
+f 19 30 24
+f 19 24 25
+f 19 25 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 22 21
+f 20 33 34
+f 20 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 26 38 27
+f 26 39 38
+f 27 38 40
+f 28 41 29
+f 29 42 43
+f 29 41 42
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 36
+f 36 49 50
+f 38 51 52
+f 38 52 40
+f 38 39 53
+f 38 53 51
+f 39 54 55
+f 39 55 56
+f 39 56 53
+f 41 57 58
+f 41 58 42
+f 42 59 43
+f 42 58 60
+f 42 60 61
+f 42 61 59
+f 46 62 47
+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 65
+f 48 65 49
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 51 53 58
+f 51 58 52
+f 52 58 68
+f 53 60 58
+f 53 56 69
+f 53 69 70
+f 53 70 60
+f 54 71 55
+f 55 69 56
+f 55 71 72
+f 55 72 69
+f 57 68 58
+f 60 70 73
+f 60 73 74
+f 60 74 61
+f 62 75 76
+f 62 76 63
+f 63 76 64
+f 64 77 78
+f 64 78 65
+f 64 76 77
+f 65 78 66
+f 66 78 67
+f 67 78 79
+f 67 79 80
+f 69 72 81
+f 69 81 79
+f 69 79 78
+f 69 78 70
+f 70 78 73
+f 72 80 79
+f 72 79 81
+f 73 78 74
+f 74 78 77
+f 74 77 82
+f 75 83 76
+f 76 83 77
+f 77 83 82
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_56.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c2ef11c16af9adfb9208f8059cafdaaebf5ad3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_56.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02141797 -0.01978242 -0.05731521
+v 0.02910660 -0.01978242 -0.05731521
+v 0.02236209 -0.01978241 -0.06093744
+v 0.00082174 -0.02806403 -0.05731524
+v 0.02673384 -0.02294604 -0.05731522
+v 0.02641544 -0.02057579 -0.06179921
+v 0.02727927 -0.01978241 -0.06103961
+v 0.02322038 -0.01978240 -0.06242805
+v 0.00082174 -0.02905611 -0.06093960
+v 0.00082174 -0.03428056 -0.05731527
+v 0.02462964 -0.02499976 -0.05731523
+v 0.02444137 -0.02273454 -0.06197759
+v 0.02563190 -0.01978240 -0.06255033
+v 0.02489543 -0.02169419 -0.06224121
+v 0.02340034 -0.01978240 -0.06248098
+v 0.00082174 -0.03006664 -0.06250484
+v 0.00082174 -0.03275196 -0.06107406
+v 0.00261031 -0.03427914 -0.05731527
+v 0.02237316 -0.02690446 -0.05731524
+v 0.02233717 -0.02475846 -0.06190668
+v 0.02340034 -0.02322562 -0.06224227
+v 0.02562359 -0.01978524 -0.06255191
+v 0.02562359 -0.01978240 -0.06255191
+v 0.02340034 -0.02169419 -0.06265620
+v 0.00896721 -0.02994458 -0.06272293
+v 0.00082174 -0.03172012 -0.06250485
+v 0.00277920 -0.03171019 -0.06250273
+v 0.00277920 -0.03274203 -0.06101531
+v 0.00277920 -0.03427772 -0.05731527
+v 0.02129061 -0.02778726 -0.05731524
+v 0.02010284 -0.02668445 -0.06155256
+v 0.01872681 -0.02717553 -0.06225234
+v 0.02096113 -0.02530915 -0.06231373
+v 0.01936084 -0.02592654 -0.06252759
+v 0.01514967 -0.02788092 -0.06266363
+v 0.01308977 -0.02959401 -0.06246673
+v 0.00690454 -0.03151148 -0.06244874
+v 0.00484187 -0.03164774 -0.06249479
+v 0.00464252 -0.03271506 -0.06073370
+v 0.00482526 -0.03423656 -0.05731527
+v 0.00467021 -0.03424224 -0.05731527
+v 0.01880156 -0.02969622 -0.05731525
+v 0.01622392 -0.02893404 -0.06199509
+v 0.01514967 -0.02917958 -0.06221636
+v 0.01703237 -0.02787098 -0.06236456
+v 0.01044014 -0.03111834 -0.06213431
+v 0.00896721 -0.03130711 -0.06231323
+v 0.00690454 -0.03234888 -0.06093749
+v 0.00700421 -0.03393567 -0.05731526
+v 0.01474267 -0.03175562 -0.05731526
+v 0.01181618 -0.03086286 -0.06168596
+v 0.00846607 -0.03360071 -0.05731526
+f 1 2 7
+f 1 7 13
+f 1 13 23
+f 1 23 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 29
+f 1 29 41
+f 1 41 40
+f 1 40 49
+f 1 49 52
+f 1 52 50
+f 1 50 42
+f 1 42 30
+f 1 30 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 9 16
+f 4 16 26
+f 4 26 17
+f 4 17 10
+f 4 8 9
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 14
+f 13 14 22
+f 13 22 23
+f 14 21 24
+f 14 24 22
+f 15 23 24
+f 15 24 16
+f 16 25 26
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 24
+f 22 24 23
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 27
+f 25 27 26
+f 27 38 28
+f 28 38 37
+f 28 37 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 34
+f 32 34 33
+f 34 45 35
+f 35 45 36
+f 36 45 44
+f 36 44 46
+f 36 46 47
+f 36 47 37
+f 37 48 39
+f 37 47 48
+f 39 48 40
+f 40 48 49
+f 42 50 43
+f 43 50 51
+f 43 51 46
+f 43 46 44
+f 46 51 50
+f 46 50 52
+f 46 52 49
+f 46 49 48
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_57.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745e77a9456639b3c86534f757abac9e5db5f25d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_57.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01702045 -0.02818357 -0.05741804
+v -0.01782802 -0.02778363 -0.05741804
+v -0.01702045 -0.02649828 -0.06138278
+v -0.01702045 -0.02079706 -0.05741802
+v -0.01793174 -0.02770640 -0.05741804
+v -0.01890230 -0.02480473 -0.06198758
+v -0.01702045 -0.02623349 -0.06181965
+v -0.01702045 -0.02136524 -0.06093752
+v -0.02583106 -0.00000558 -0.05741794
+v -0.02005808 -0.02592735 -0.05741804
+v -0.01784876 -0.02521019 -0.06223767
+v -0.02008624 -0.02590252 -0.05741804
+v -0.02210293 -0.02404900 -0.05741803
+v -0.02100493 -0.02278571 -0.06202471
+v -0.01971727 -0.02358560 -0.06222406
+v -0.01702045 -0.02551911 -0.06235695
+v -0.01702045 -0.02151417 -0.06134143
+v -0.02661492 -0.00000557 -0.06093744
+v -0.03215674 -0.00000558 -0.05741794
+v -0.01784876 -0.02375385 -0.06268970
+v -0.02225851 -0.02389178 -0.05741803
+v -0.02149836 -0.02169346 -0.06227061
+v -0.02299495 -0.02065085 -0.06195042
+v -0.01991139 -0.02169346 -0.06270800
+v -0.01702045 -0.02467509 -0.06261854
+v -0.01702045 -0.02209892 -0.06232450
+v -0.02691868 -0.00000556 -0.06221770
+v -0.02676013 -0.00000556 -0.06155847
+v -0.03215377 -0.00056274 -0.05741794
+v -0.03058013 -0.00000557 -0.06093744
+v -0.03057865 -0.00106749 -0.06093744
+v -0.01702045 -0.02373178 -0.06261907
+v -0.02816040 -0.00313063 -0.06276182
+v -0.02816040 -0.00000556 -0.06273931
+v -0.02408109 -0.02181760 -0.05741802
+v -0.02349579 -0.01927450 -0.06229415
+v -0.02217405 -0.01982890 -0.06252697
+v -0.02593478 -0.01952551 -0.05741801
+v -0.02486939 -0.01832015 -0.06143036
+v -0.02530948 -0.01694380 -0.06218479
+v -0.02412406 -0.01760577 -0.06248405
+v -0.02609778 -0.01138047 -0.06270220
+v -0.02816040 -0.00519378 -0.06276235
+v -0.01702045 -0.02249610 -0.06248669
+v -0.02755880 -0.00000556 -0.06248714
+v -0.03214785 -0.00106750 -0.05741794
+v -0.03015931 -0.00000556 -0.06173793
+v -0.02975775 -0.00106748 -0.06248870
+v -0.02968218 -0.00313063 -0.06243796
+v -0.03042307 -0.00313064 -0.06093745
+v -0.02976071 -0.00000556 -0.06249080
+v -0.02898427 -0.00000556 -0.06261166
+v -0.02604592 -0.01935175 -0.05741801
+v -0.02704611 -0.01433452 -0.06176780
+v -0.02570215 -0.01550401 -0.06238936
+v -0.02735432 -0.01296093 -0.06218844
+v -0.02625336 -0.01356774 -0.06248771
+v -0.02764326 -0.01138047 -0.06239196
+v -0.02816040 -0.00725693 -0.06262738
+v -0.03198041 -0.00276105 -0.05741795
+v -0.02953549 -0.00519378 -0.06232706
+v -0.03014598 -0.00519379 -0.06093746
+v -0.02811595 -0.01567504 -0.05741800
+v -0.03010449 -0.01133636 -0.05741798
+v -0.02920653 -0.00834091 -0.06198909
+v -0.02932804 -0.00725693 -0.06212512
+v -0.03146179 -0.00519380 -0.05741796
+v -0.03056976 -0.00933389 -0.05741797
+v -0.03061125 -0.00914357 -0.05741797
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 25
+f 1 25 32
+f 1 32 44
+f 1 44 26
+f 1 26 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 29
+f 1 29 46
+f 1 46 60
+f 1 60 67
+f 1 67 69
+f 1 69 68
+f 1 68 64
+f 1 64 63
+f 1 63 53
+f 1 53 38
+f 1 38 35
+f 1 35 21
+f 1 21 13
+f 1 13 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 7 11 16
+f 8 17 9
+f 9 18 28
+f 9 28 27
+f 9 27 45
+f 9 45 34
+f 9 34 52
+f 9 52 51
+f 9 51 47
+f 9 47 30
+f 9 30 19
+f 9 17 18
+f 11 15 20
+f 11 20 16
+f 13 21 14
+f 14 22 15
+f 14 21 23
+f 14 23 22
+f 15 22 24
+f 15 24 20
+f 16 20 25
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 19 30 31
+f 19 31 29
+f 20 32 25
+f 20 24 33
+f 20 33 34
+f 20 34 32
+f 21 35 23
+f 22 23 36
+f 22 36 37
+f 22 37 24
+f 23 38 39
+f 23 39 40
+f 23 40 36
+f 23 35 38
+f 24 37 41
+f 24 41 42
+f 24 42 43
+f 24 43 33
+f 26 44 27
+f 27 44 45
+f 29 31 46
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 46
+f 32 34 44
+f 33 43 51
+f 33 51 52
+f 33 52 34
+f 34 45 44
+f 36 40 41
+f 36 41 37
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 55 41
+f 40 54 56
+f 40 56 55
+f 41 55 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 43 49 48
+f 43 48 51
+f 43 59 49
+f 46 50 60
+f 47 51 48
+f 49 59 61
+f 49 61 50
+f 50 61 62
+f 50 62 60
+f 53 63 54
+f 54 64 65
+f 54 65 56
+f 54 63 64
+f 55 56 58
+f 55 58 57
+f 56 65 58
+f 58 65 66
+f 58 66 61
+f 58 61 59
+f 60 62 66
+f 60 66 65
+f 60 65 67
+f 61 66 62
+f 64 68 65
+f 65 68 69
+f 65 69 67
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_58.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c31a185c2e73dc0296374d6e052b53347a29c867
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01924782 -0.00013779 -0.05755013
+v 0.01924782 -0.00013779 -0.05655012
+v 0.01924782 0.03067230 -0.05755013
+v 0.01924782 0.03067230 -0.05655012
+v 0.03690402 -0.00013779 -0.05755013
+v 0.03690402 -0.00013779 -0.05655012
+v 0.03690402 0.03067230 -0.05755013
+v 0.03690402 0.03067230 -0.05655012
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_59.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1719907e5fa840fd5eeb1901fe544da71e213386
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_59.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00082174 0.03556555 -0.05656730
+v 0.00082174 0.03363003 -0.05864265
+v 0.00082174 0.02578683 -0.05656734
+v 0.00084158 0.03556555 -0.05656730
+v 0.00265408 0.03555892 -0.05656730
+v 0.00277852 0.03359192 -0.05864265
+v 0.00082174 0.02854099 -0.05864267
+v 0.01924609 0.01863962 -0.05656736
+v 0.00342416 0.03554069 -0.05656730
+v 0.00481465 0.03350409 -0.05864265
+v 0.01924609 0.02262337 -0.05864269
+v 0.01924609 0.03067205 -0.05656732
+v 0.00483990 0.03543795 -0.05656730
+v 0.00552161 0.03537498 -0.05656730
+v 0.00690308 0.03523247 -0.05656730
+v 0.00892297 0.03485133 -0.05656730
+v 0.00690308 0.03309146 -0.05864265
+v 0.01924609 0.02820293 -0.05864267
+v 0.01914690 0.02833053 -0.05864267
+v 0.01921363 0.03069193 -0.05656732
+v 0.01102583 0.03195633 -0.05864265
+v 0.00886166 0.03263575 -0.05864265
+v 0.01388795 0.03320248 -0.05656731
+v 0.01303311 0.03129845 -0.05864266
+v 0.01725685 0.02940435 -0.05864266
+v 0.01665810 0.03201763 -0.05656731
+v 0.01510170 0.03278820 -0.05656731
+v 0.01503858 0.03048148 -0.05864266
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 20
+f 1 20 26
+f 1 26 27
+f 1 27 23
+f 1 23 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 9
+f 1 9 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 17
+f 2 17 22
+f 2 22 21
+f 2 21 24
+f 2 24 28
+f 2 28 25
+f 2 25 19
+f 2 19 18
+f 2 18 11
+f 2 11 7
+f 3 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 18
+f 8 18 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 12 18 19
+f 12 19 20
+f 16 21 22
+f 16 22 17
+f 16 23 24
+f 16 24 21
+f 19 25 20
+f 20 25 26
+f 23 27 24
+f 24 27 28
+f 25 28 27
+f 25 27 26
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1c674fb93745f2d35d612bd71068b76648ee8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03329441 -0.02989675 -0.05748477
+v -0.03329441 -0.02989675 -0.05648476
+v -0.03329441 -0.00000851 -0.05748477
+v -0.03329441 -0.00000851 -0.05648476
+v -0.01702045 -0.02989675 -0.05748477
+v -0.01702045 -0.02989675 -0.05648476
+v -0.01702045 -0.00000851 -0.05748477
+v -0.01702045 -0.00000851 -0.05648476
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_60.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6af298f9029103228473620ab12a2f1a232cdfe6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_60.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00082174 0.03363077 -0.05864325
+v 0.00082174 0.03274822 -0.06135562
+v 0.00082174 0.02854120 -0.05864327
+v 0.00277852 0.03359198 -0.05864325
+v 0.00082174 0.03269434 -0.06142203
+v 0.00277852 0.03272450 -0.06124281
+v 0.00483990 0.03161134 -0.06251778
+v 0.00082174 0.02883109 -0.06198452
+v 0.01924609 0.02265851 -0.06093721
+v 0.01924609 0.02262187 -0.05864329
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2067ba8d133f8026b0918669b0b29be9af89c600
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_7.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54928f41ff8419949f71a2a6dd6a23b683bb13a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_8.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mjcf/mesh/purple_cup_collision_9.obj
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