diff --git a/.gitattributes b/.gitattributes
index c84d775e3851534d0ae7c7fb37dec59618791d5e..55ff0a764b4cd29b2017d0016b6c8c1b870be169 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4703,5 +4703,6 @@ dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.us
 dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/coffee_cup_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.urdf b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..409230393918296b60ea8016355b1990dd027a3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="yellow_cup">
+   <link name="yellow_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>yellow cup</category>
+         <description>simple yellow cup with a wide rim and tapered body</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120141548</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5936760902404785</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/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.usd b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cd992872cd34946df6417966a8475f0cefe8b575
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ccdfcafd7a7875c36244db7bd52d31e092e7395009c934606505bd6da30c728
+size 1360482
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/material.mtl b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/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/55c43f1ad23751e483de05fab1876a84/mesh/material_0.png b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..56ca3e06a7918282b2537465f4afa7e9c39de548
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc620818269d65c7be1d29b5e3ab8e883a4dba8576960ea30f88281878b3cc8f
+size 1085447
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..07d9a8f8b270e44229d555df54ce558112700902
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39c53bbdd3ed8da249b70bf1c158aeb68ec8daeab985f0518af5f1baa62d7699
+size 2020692
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19e9184bca90e04aeb46857e6d825eb36484880
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.obj
@@ -0,0 +1,85724 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8d3c1ddab8d9f4628a9719038ab3030147c28e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup_collision.obj
@@ -0,0 +1,29456 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc620818269d65c7be1d29b5e3ab8e883a4dba8576960ea30f88281878b3cc8f
+size 1085447
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7fe2136c66ea8b7d73f0d3b159a1bf172c30901
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b63fc25452dd69cbda2362db8399a0dca492ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,29456 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fec0e69b4f515431445b0bb38c6df953aa66166
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_0.obj
@@ -0,0 +1,1348 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154a1f3ff61ec73508fdc19a86750d23244ef45b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_1.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04450799 0.01102789 0.00525898
+v 0.04450799 0.01787561 0.01687542
+v 0.04422817 0.01102789 0.00514892
+v 0.04450799 0.01102791 -0.00123460
+v 0.04221785 0.01787565 0.00518230
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+v 0.04415978 0.01102789 0.00511890
+v 0.04450799 0.01787567 0.00015953
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+v 0.04450799 0.01786427 0.00015620
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+v 0.04255395 0.01102797 -0.01603611
+f 1 2 3
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+f 16 21 17
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36df67dc907086187e985266fabf840118e09305
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_10.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.03226716 -0.02510539 -0.03922622
+v 0.03173769 -0.02574126 -0.03922622
+v 0.03222193 -0.02510538 -0.03962686
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83fc981468d9f3dad26bef612d944826e2f1bc77
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_11.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea23896f5dc7d51221e48d5d40ab27d2b92762d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_12.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f069a3612f47b5dca35cd4d51f65fe6c6ffaa945
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03716488 0.00015457 -0.03919644
+v -0.03369520 0.01546771 -0.03919638
+v -0.04129417 0.00015457 -0.03919644
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+v -0.03645170 0.01546778 -0.05748408
+v -0.04127433 0.00098348 -0.03919644
+v -0.04127334 0.00024452 -0.03952048
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+v -0.03957123 0.00015464 -0.05696317
+v -0.03951569 0.00109597 -0.05748414
+v -0.03891361 0.01359104 -0.03919639
+v -0.03717678 0.01455192 -0.05433498
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+v -0.03917348 0.01293601 -0.03919639
+v -0.03692583 0.01546776 -0.05283651
+v -0.03679292 0.01546777 -0.05428127
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+v -0.03711330 0.01439304 -0.05570992
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+v -0.03704982 0.01422516 -0.05696312
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157a71cbf7da4c7d7ae2e9ca7ee16dcd78bb6d8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_14.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00007122 -0.03395299 -0.05749834
+v 0.01301984 -0.03180657 -0.05749834
+v 0.00007122 -0.03917957 -0.05749836
+v 0.00007122 -0.03671871 -0.03922626
+v 0.01301984 -0.03428540 -0.03922626
+v 0.01301984 -0.03682823 -0.05749836
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+v 0.00156051 -0.03914572 -0.05749836
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f6316d51a9b2e4e86db25a63c09cade3957e38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04139062 0.00015457 -0.03921393
+v 0.03717755 0.00015457 -0.03921393
+v 0.04138957 0.00015457 -0.03925109
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cab638a39cfe13d2a2b1fa1337f61ab66591e8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc2f1b96781e8496094b22d35b293f74ef5f7212
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fbebba5a6c4e3d746642e15704f336265311591
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_18.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6e4ab7dd72e26c197f4d45eb2a06aa80cf558d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_19.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5998fe412cdbd2a950b9bcc23d117b2534e7b0e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_2.obj
@@ -0,0 +1,1348 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43082485bedefd3e545947d7b0fbfc275af25acd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe09168d2e664fab4dfc1388dd0d883fd7388e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_21.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33cdbd56b2eb9314286ede9553a02b5373b8bcc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_22.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bf1e05d21272fe4d909aba49e429ee7a25f9abd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad48ebf7e0cdd2c3f003698f4792e9400c30d2e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,283 @@
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..214e15230661c2ad353c3c87b973564962473598
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00013395 0.04127615 -0.03921192
+v 0.00074858 0.04127509 -0.03921192
+v 0.00013395 0.03701882 -0.03921193
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+v 0.01710098 0.03735372 0.00079549
+v 0.01710098 0.03789275 0.00226481
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028d5beed08dd7caa3f3b20c7e3fb3cf1e3277f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01791964 -0.04475119 0.00031932
+v -0.00098893 -0.04475118 -0.00347461
+v -0.01791964 -0.04590551 0.00088564
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+v -0.01544537 -0.04630319 0.00052981
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+v 0.00007122 -0.04475121 0.00466956
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3878da1d321b516a32cda376174a6b73cdcf6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00007122 -0.04426056 -0.01080604
+v 0.00043661 -0.04426056 -0.01082896
+v 0.00007122 -0.04989916 0.00109783
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+v 0.01735293 -0.04492341 0.02159866
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a51639f19d9c83cb1f032c7fde5e6b9ff704362
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_28.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05512396 -0.01735261 0.06194023
+v 0.05512396 -0.01526880 0.06202140
+v 0.05461128 -0.01735261 0.06194023
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+v 0.05512396 -0.01335292 0.06194024
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+v 0.05512396 -0.00097848 0.05029396
+v 0.04452067 -0.01735241 0.00701521
+v 0.04452067 -0.01734898 0.00673380
+v 0.05512396 0.00015425 0.05030478
+v 0.04452067 -0.01449058 0.00673381
+v 0.04692330 0.00015440 0.00701527
+v 0.05458317 0.00015421 0.06033296
+v 0.05150483 -0.01735260 0.05988913
+v 0.04363809 -0.01734898 0.00673380
+v 0.04452067 -0.01735244 0.01586902
+v 0.04376851 -0.01692056 0.00673380
+v 0.04424072 -0.01734901 0.01317933
+v 0.05100115 0.00015425 0.05031019
+v 0.05376355 0.00015421 0.05953201
+v 0.05145199 -0.01735260 0.05984042
+v 0.04799814 -0.01735256 0.05029930
+v 0.05117766 0.00015424 0.05093797
+v 0.05140139 0.00015424 0.05173351
+v 0.05091457 -0.01735260 0.05855781
+f 1 2 3
+f 1 3 7
+f 1 7 22
+f 1 22 30
+f 1 30 37
+f 1 37 41
+f 1 41 38
+f 1 38 32
+f 1 32 24
+f 1 24 9
+f 1 9 4
+f 1 4 8
+f 1 8 23
+f 1 23 26
+f 1 26 21
+f 1 21 20
+f 1 20 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 8
+f 5 6 7
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 8 19 23
+f 9 24 31
+f 9 31 25
+f 9 25 10
+f 10 25 11
+f 11 25 12
+f 12 25 13
+f 13 25 14
+f 14 25 15
+f 15 25 16
+f 16 25 17
+f 17 25 18
+f 18 25 19
+f 19 26 23
+f 19 25 27
+f 19 27 28
+f 19 28 35
+f 19 35 39
+f 19 39 40
+f 19 40 36
+f 19 36 29
+f 19 29 21
+f 19 21 26
+f 21 29 22
+f 22 29 30
+f 24 32 31
+f 25 31 33
+f 25 33 27
+f 27 33 28
+f 28 33 31
+f 28 31 34
+f 28 34 35
+f 29 36 37
+f 29 37 30
+f 31 32 34
+f 32 38 34
+f 34 38 35
+f 35 38 39
+f 36 40 38
+f 36 38 41
+f 36 41 37
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48095429eff1e29b03499c68fb8db7cbee6c746e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01791964 -0.05161094 0.04823103
+v -0.01853519 -0.05138489 0.04823103
+v -0.01791964 -0.05160580 0.04813333
+v -0.01791964 -0.04750443 0.04823105
+v -0.01917951 -0.05114686 0.04823103
+v -0.01840431 -0.05140030 0.04775265
+v -0.01791964 -0.04814134 0.01381415
+v -0.03261240 -0.03863041 0.04823108
+v -0.01791964 -0.04421979 0.01734480
+v -0.03261240 -0.03411792 0.01381420
+v -0.02164316 -0.05018616 0.04823104
+v -0.01926724 -0.04762075 0.01381416
+v -0.01791964 -0.04384647 0.01381417
+v -0.03261240 -0.04394763 0.04823106
+v -0.01791964 -0.04404170 0.01566707
+v -0.03261240 -0.03969373 0.01381418
+v -0.02307131 -0.04958166 0.04823104
+v -0.02272614 -0.04941554 0.04494635
+v -0.02029988 -0.04720462 0.01381416
+v -0.03178543 -0.04454871 0.04823106
+v -0.03191486 -0.04023658 0.01381418
+v -0.03082470 -0.04107398 0.01381418
+v -0.02409531 -0.04906278 0.04823104
+v -0.02347113 -0.04570450 0.01381416
+v -0.02164316 -0.04660697 0.01381416
+v -0.02127642 -0.04677137 0.01381416
+v -0.03143738 -0.04479702 0.04823106
+v -0.02984672 -0.04177780 0.01381418
+v -0.02578521 -0.04817401 0.04823104
+v -0.02450376 -0.04514109 0.01381416
+v -0.02706234 -0.04748046 0.04823105
+v -0.03081032 -0.04519088 0.04785710
+v -0.03030407 -0.04555393 0.04823105
+v -0.02933472 -0.04213400 0.01381418
+v -0.02542278 -0.04460851 0.01381417
+v -0.02810936 -0.04687938 0.04823105
+v -0.02830352 -0.04284639 0.01381417
+v -0.02727088 -0.04350397 0.01381417
+v -0.02999773 -0.04574401 0.04823105
+v -0.02577371 -0.04440302 0.01381417
+v -0.02677326 -0.04380537 0.01381417
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 27
+f 1 27 33
+f 1 33 39
+f 1 39 36
+f 1 36 31
+f 1 31 29
+f 1 29 23
+f 1 23 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 12 19
+f 7 19 26
+f 7 26 25
+f 7 25 24
+f 7 24 30
+f 7 30 35
+f 7 35 40
+f 7 40 41
+f 7 41 38
+f 7 38 37
+f 7 37 34
+f 7 34 28
+f 7 28 22
+f 7 22 21
+f 7 21 16
+f 7 16 10
+f 7 10 13
+f 8 10 16
+f 8 16 14
+f 9 15 10
+f 10 15 13
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 14 16 21
+f 14 21 22
+f 14 22 20
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 20 22 28
+f 20 28 27
+f 23 29 24
+f 24 29 31
+f 24 31 30
+f 27 32 33
+f 27 28 32
+f 28 34 32
+f 30 31 36
+f 30 36 35
+f 32 34 37
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 35 36 40
+f 36 39 41
+f 36 41 40
+f 38 41 39
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f92ea346b4b6f1274cd6e3cd827b4e1da7505b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_3.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03655432 -0.01735181 -0.00330905
+v 0.04151897 -0.01735237 -0.00330905
+v 0.03671495 -0.01735237 -0.00181873
+v 0.03693796 -0.01735238 0.00042068
+v 0.03697617 -0.01735238 0.00080014
+v 0.03920234 -0.01159537 0.00036860
+v 0.03888654 -0.01159536 -0.00277621
+v 0.03884678 -0.01159536 -0.00322055
+v 0.03883898 -0.01159536 -0.00330903
+v 0.04157979 -0.01735237 -0.00330905
+v 0.03714849 -0.01735239 0.00156005
+v 0.03933802 -0.01159538 0.00144505
+v 0.03924757 -0.01159537 0.00080016
+v 0.04352058 -0.01159536 -0.00330903
+v 0.04167336 -0.01714218 -0.00330905
+v 0.04452021 -0.01735238 0.00008054
+v 0.03782297 -0.01735239 0.00292453
+v 0.03923977 -0.01215384 0.00193068
+v 0.03985187 -0.01159538 0.00251068
+v 0.04338100 -0.01212903 -0.00330903
+v 0.04452021 -0.01159537 -0.00111877
+v 0.04452021 -0.01335302 -0.00082190
+v 0.04238683 -0.01541214 -0.00330905
+v 0.04305819 -0.01335301 -0.00330904
+v 0.04452021 -0.01735240 0.00673291
+v 0.04004291 -0.01159538 0.00277611
+v 0.03996416 -0.01159538 0.00267191
+v 0.03893411 -0.01735239 0.00407275
+v 0.03921092 -0.01621519 0.00394790
+v 0.03951268 -0.01484244 0.00370706
+v 0.04452021 -0.01159539 0.00543824
+v 0.04452021 -0.01449081 0.00673292
+v 0.04363754 -0.01735240 0.00673291
+v 0.04112832 -0.01159538 0.00402755
+v 0.04376698 -0.01692130 0.00673291
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 14
+f 1 14 20
+f 1 20 24
+f 1 24 23
+f 1 23 15
+f 1 15 10
+f 1 10 2
+f 2 10 16
+f 2 16 25
+f 2 25 33
+f 2 33 28
+f 2 28 17
+f 2 17 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 19
+f 6 19 27
+f 6 27 26
+f 6 26 34
+f 6 34 31
+f 6 31 21
+f 6 21 14
+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 14 21 22
+f 14 22 16
+f 14 16 20
+f 15 23 16
+f 16 23 24
+f 16 24 20
+f 16 22 21
+f 16 21 31
+f 16 31 32
+f 16 32 25
+f 17 26 27
+f 17 27 19
+f 17 19 18
+f 17 28 29
+f 17 29 30
+f 17 30 26
+f 25 32 35
+f 25 35 33
+f 26 30 34
+f 28 34 29
+f 28 33 35
+f 28 35 32
+f 28 32 34
+f 29 34 30
+f 31 34 32
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b4c02f59d9250ef08ec5a776a1668e27ec0289
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_30.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03335527 -0.03191815 0.00578501
+v 0.03414592 -0.03061512 0.00578502
+v 0.03940353 -0.03191815 0.00578501
+v 0.03933977 -0.03191830 0.04712929
+v 0.04780915 -0.01735398 0.04712935
+v 0.04275740 -0.01776299 0.00578506
+v 0.03979339 -0.03145767 0.00578501
+v 0.03986808 -0.03154464 0.00699102
+v 0.04446257 -0.03191830 0.04712929
+v 0.05196459 -0.01735398 0.04712935
+v 0.04318005 -0.01735383 0.00578507
+v 0.04294686 -0.01757908 0.00578507
+v 0.04022332 -0.03092876 0.00578502
+v 0.04452815 -0.03182849 0.04712929
+v 0.04089920 -0.03027725 0.00699103
+v 0.04162608 -0.02915384 0.00578502
+v 0.05193727 -0.01745662 0.04712935
+v 0.05188444 -0.01735398 0.04618235
+v 0.04781462 -0.01735383 0.00578507
+v 0.04082633 -0.03018315 0.00578502
+v 0.04502185 -0.03114703 0.04712930
+v 0.04207970 -0.02848664 0.00578503
+v 0.04536252 -0.03066944 0.04712930
+v 0.05178971 -0.01798554 0.04712934
+v 0.05162210 -0.01829490 0.04618234
+v 0.04818443 -0.01735384 0.00917242
+v 0.04783101 -0.01735383 0.00591862
+v 0.04760876 -0.01792836 0.00578506
+v 0.04261712 -0.02769256 0.00578503
+v 0.04560664 -0.03028594 0.04712930
+v 0.04336587 -0.02664757 0.00645279
+v 0.05166218 -0.01843461 0.04712934
+v 0.04724805 -0.01980736 0.00905505
+v 0.04765612 -0.01877805 0.00905505
+v 0.04758690 -0.01859842 0.00770739
+v 0.04813342 -0.01747359 0.00905506
+v 0.04795125 -0.01735384 0.00700727
+v 0.04750856 -0.01838457 0.00633141
+v 0.04786563 -0.01760760 0.00700727
+v 0.04747577 -0.01829475 0.00578506
+v 0.04332943 -0.02658484 0.00578503
+v 0.04596552 -0.02971569 0.04712930
+v 0.04389054 -0.02562966 0.00578504
+v 0.04709866 -0.02783385 0.04712931
+v 0.05156563 -0.01867127 0.04712934
+v 0.05112112 -0.01953235 0.04618234
+v 0.04642461 -0.02159226 0.00905504
+v 0.04620600 -0.02159226 0.00699106
+v 0.04702033 -0.01947090 0.00578506
+v 0.04719522 -0.01938395 0.00700726
+v 0.05023392 -0.02159240 0.04618233
+v 0.04964185 -0.02267161 0.04495609
+v 0.04726991 -0.01882936 0.00578506
+v 0.04436420 -0.02479281 0.00578504
+v 0.04514391 -0.02405006 0.00905503
+v 0.04763791 -0.02689007 0.04712931
+v 0.05031954 -0.02159240 0.04712933
+v 0.04558478 -0.02280976 0.00699106
+v 0.04924470 -0.02393473 0.04712932
+v 0.04555927 -0.02260160 0.00578505
+v 0.04602564 -0.02168207 0.00578505
+v 0.04974933 -0.02290541 0.04712933
+v 0.04501638 -0.02362236 0.00578504
+v 0.04503278 -0.02383907 0.00699105
+v 0.04569408 -0.02302075 0.00905504
+v 0.04825002 -0.02580089 0.04712932
+v 0.04551737 -0.02268286 0.00578505
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 19
+f 1 19 28
+f 1 28 40
+f 1 40 53
+f 1 53 49
+f 1 49 61
+f 1 61 60
+f 1 60 67
+f 1 67 63
+f 1 63 54
+f 1 54 43
+f 1 43 41
+f 1 41 29
+f 1 29 22
+f 1 22 16
+f 1 16 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 9 14
+f 4 14 21
+f 4 21 23
+f 4 23 30
+f 4 30 42
+f 4 42 44
+f 4 44 56
+f 4 56 66
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+f 4 59 62
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+f 4 57 45
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+f 4 17 10
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+f 5 19 11
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+f 5 12 6
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+f 7 9 8
+f 9 13 15
+f 9 15 16
+f 9 16 14
+f 10 17 18
+f 13 20 15
+f 14 16 21
+f 15 20 16
+f 16 22 23
+f 16 23 21
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+f 17 25 18
+f 18 25 26
+f 19 27 28
+f 22 29 23
+f 23 29 31
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+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 27 38 28
+f 27 37 39
+f 27 39 38
+f 28 38 40
+f 29 41 31
+f 30 31 42
+f 31 41 43
+f 31 43 44
+f 31 44 42
+f 32 45 46
+f 32 46 33
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 35
+f 33 35 34
+f 33 46 51
+f 33 51 52
+f 33 52 47
+f 35 50 49
+f 35 49 38
+f 35 38 39
+f 35 39 36
+f 36 39 37
+f 38 49 53
+f 38 53 40
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 45 57 46
+f 46 57 51
+f 47 58 48
+f 47 52 59
+f 47 59 58
+f 48 58 60
+f 48 60 61
+f 48 61 49
+f 51 57 62
+f 51 62 52
+f 52 62 59
+f 54 63 64
+f 54 64 55
+f 55 64 58
+f 55 58 65
+f 55 65 66
+f 55 66 56
+f 58 59 65
+f 58 64 63
+f 58 63 67
+f 58 67 60
+f 59 66 65
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91261900782a6ea232e38d7d8ee1b1960726c63e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.03880834 -0.01359132 -0.03921115
+v -0.03794091 -0.01541290 -0.04046123
+v -0.03805354 -0.01541291 -0.03921116
+v -0.03441122 -0.01359132 -0.03921115
+v -0.03849969 -0.01359130 -0.04252375
+v -0.03738359 -0.01492903 -0.04871136
+v -0.03748306 -0.01514855 -0.04664883
+v -0.03775221 -0.01541289 -0.04252376
+v -0.03715101 -0.01647597 -0.04373143
+v -0.03760886 -0.01636221 -0.03921116
+v -0.02664385 -0.02533112 -0.03921119
+v -0.02386603 -0.02533105 -0.05653919
+v -0.03226532 -0.01359125 -0.05653915
+v -0.03810620 -0.01359129 -0.04664882
+v -0.03728119 -0.01470376 -0.05077389
+v -0.03690233 -0.01595877 -0.04871137
+v -0.03700765 -0.01617715 -0.04664883
+v -0.03708372 -0.01633804 -0.04510702
+v -0.03750207 -0.01555655 -0.04448623
+v -0.03636403 -0.01747238 -0.04664883
+v -0.03666829 -0.01728620 -0.04448623
+v -0.03668877 -0.01761949 -0.04252376
+v -0.03684967 -0.01793211 -0.03921117
+v -0.03705008 -0.01752527 -0.03921116
+v -0.03735579 -0.01690237 -0.03921116
+v -0.03207515 -0.02533112 -0.03921119
+v -0.02995412 -0.02533105 -0.05653919
+v -0.03707933 -0.01359125 -0.05653915
+v -0.03790726 -0.01359128 -0.04871136
+v -0.03719635 -0.01451988 -0.05240390
+v -0.03679409 -0.01573351 -0.05077390
+v -0.03615339 -0.01747237 -0.04871137
+v -0.03571455 -0.01747236 -0.05283644
+v -0.03524208 -0.01879517 -0.05077391
+v -0.03535032 -0.01897906 -0.04871138
+v -0.03596323 -0.01953075 -0.03921117
+v -0.03545564 -0.01915261 -0.04664884
+v -0.03208393 -0.02532193 -0.03921119
+v -0.03203127 -0.02533111 -0.03960470
+v -0.03084349 -0.02456335 -0.05490070
+v -0.03074402 -0.02444037 -0.05653919
+v -0.03078937 -0.02533108 -0.04995808
+v -0.03696085 -0.01391879 -0.05653915
+v -0.03716709 -0.01359126 -0.05579114
+v -0.03769955 -0.01359127 -0.05077389
+v -0.03712468 -0.01435667 -0.05377949
+v -0.03676922 -0.01528874 -0.05299079
+v -0.03507239 -0.01850899 -0.05390333
+v -0.03513090 -0.01860669 -0.05283645
+v -0.03649275 -0.01541285 -0.05490067
+v -0.03544394 -0.01758957 -0.05471409
+v -0.03460869 -0.01982377 -0.05077391
+v -0.03472133 -0.02000766 -0.04871138
+v -0.03482957 -0.02018121 -0.04664884
+v -0.03515138 -0.02069495 -0.04046125
+v -0.03521428 -0.02080185 -0.03921118
+v -0.03548636 -0.02034214 -0.03921117
+v -0.03282410 -0.02444044 -0.03921119
+v -0.03193326 -0.02533111 -0.04046126
+v -0.03101610 -0.02533108 -0.04815845
+v -0.03109509 -0.02486447 -0.05077393
+v -0.03138179 -0.02362324 -0.05653919
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e323ecb6ef955e279f50d92b44093ca5ee4e423
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_32.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c0fb892bea259b70f192f849584b236336e486
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_33.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..032deecff884e503427c37252a310412dec76008
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2d79810c75380837d03f39d070e6ce30961612
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba34eb62b66a3a686cccdc90a056503c60b354d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_36.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b58aad214b01bf01cf9451086803f0409c67170
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_37.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6a402a281ddfc0d2b263da90792e5bbc638a2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_38.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae8ac6ce4fd7445eb42222a35764678c90e427f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944c7f1f23f0f949a230565d28f7914b9a06dd24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_4.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65e3d1d6cd18927c59eee19c1c1af555538656e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_40.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4a304c6cb8155291195dd8cb64c6f5f40621056
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_41.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09dfa33d00d3ca42135352802e517fff958e2368
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_42.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58dc028772fec1bd78624896ef12e70121920012
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_43.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3657b1e2c84559a8ee645fdecd7354df1aaefe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_44.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c335b17ec35cd112d3a4009178ec0d3bb79a70f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1fe9c6d3d56e1beb9d55bf6aea55c635b138a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef3b1c101c1f8dafa02d7029dc3392ffdf4a55b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_47.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_48.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c6ef3f48335fb06e2612b7bd3fa200724dd425
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_48.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_49.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46667128856b7bda954f8b55ecb5dd41760e9f4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_49.obj
@@ -0,0 +1,958 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8341d9baf3fafdcf27f64d5cebafd24321978d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_50.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d4e0fc781c6e3c2031e78c5551f981eb7b0622
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_50.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_51.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91bc0d2fe39408e725ce10a5c397db3e6aa54a60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_51.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_52.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a99c07ca7a845eb5280dee6300f891d434cd1b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_52.obj
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_53.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4564808ecf3d8fa24c46c983faafafc743b1bb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_53.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_54.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff95f7d6e8df520eac4d6f6a41fdc036a3f2eba6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_54.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_55.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993787102658f571546afef22ccc26e2c6563097
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_55.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_56.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938bd1ab1546a9c6d82693af3963951d1fe3229e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_57.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fadf205deb4c7647213b8e856619293c51c726c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_57.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_58.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9998faa50fbd1e4856a2c7362935952cb7e3ee4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_58.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_59.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca10d9b70119e242b8d1d573ff1afb9c1d59764
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_59.obj
@@ -0,0 +1,769 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e064bd01b248c4d19e6b30d886b50977c799726
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_60.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e512bd68c672dd6d03852f40d909aac3f94206af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_60.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_61.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7d9583380df50f29bdef38bc47f4d4a51fe0e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_61.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_62.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0dde3cf35d42047fb84700aaee446e3be94799b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_62.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_63.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3baf4c33df4cc3a27900d9ca8bd1dd95817f0ef3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_63.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_64.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1daf401022cb3fd656984d6c3bd3b93a02431768
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_64.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_65.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d7f5a467a4f445c6dd05fb5eb65995bb3e7ccd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_65.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_66.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0619bd83a47ea9b8ccc522dc006e8ae5a5f2516
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_66.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_67.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb38c3182e9562f6fee5f426f33cbc0f42f0ee1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_67.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05469130 0.01787619 0.06192924
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_68.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cdb8c5fe7e43f95b5e40246bc10925e501b4d3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_68.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04437917 -0.00768088 -0.01395909
+v 0.04437917 -0.00768088 -0.00291462
+v 0.04437917 0.00799327 -0.01395909
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+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_69.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21bc7222617892bc8bb71cdf8e41fc1e735fc296
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_69.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7716a113768478a3b31e20bceaf1c242a4cf42b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_7.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_70.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1061e4c05a51c214c29f321c58da1fa65d7fe7d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_70.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_71.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd77cf438dfbf43eafc3983a0b6f188cfe851df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_71.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_72.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0f346e038707dd351a283b649d552bc5b498bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_72.obj
@@ -0,0 +1,967 @@
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_73.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f39032d2184464db9a90ae55de62cb291bbb2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_73.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01750931 -0.05453942 0.06218143
+v -0.01791964 -0.05322347 0.06183617
+v -0.01791964 -0.05453942 0.06217719
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+v -0.00984524 -0.05586603 0.06210359
+v -0.00924824 -0.05586603 0.06209511
+v -0.01338142 -0.05509272 0.06213190
+v -0.01338142 -0.05478323 0.06210360
+v -0.01791964 -0.05219320 0.06096879
+v 0.00007122 -0.05586603 0.06185031
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+v -0.01791964 -0.05509272 0.06209087
+v -0.01783335 -0.05509272 0.06210077
+v -0.00984524 -0.05586599 0.05211939
+v -0.01791964 -0.05115802 0.05993726
+v 0.00007122 -0.05586599 0.05125482
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+v -0.01791964 -0.05509267 0.05025019
+v -0.00933453 -0.05586599 0.05198072
+v -0.01791964 -0.05056366 0.05852934
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+v -0.01791964 -0.04753360 0.04874325
+v 0.00007122 -0.05077050 0.04925546
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_74.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90201d0650b4912b2609dfaa562e6c7b9ae2c943
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_74.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03261439 0.01787581 -0.03921200
+v 0.03549179 0.01102805 -0.03921203
+v 0.03555477 0.01102805 -0.03827332
+v 0.03558767 0.01102805 -0.03784308
+v 0.03574183 0.01102804 -0.03600044
+v 0.03589788 0.01102804 -0.03427078
+v 0.03268865 0.01787581 -0.03840367
+v 0.03712742 0.01787581 -0.03921200
+v 0.03978204 0.01102805 -0.03921203
+v 0.03592890 0.01102803 -0.03393615
+v 0.03451417 0.01787574 -0.01993375
+v 0.03747147 0.01102798 -0.01776519
+v 0.03750061 0.01709550 -0.03921201
+v 0.04064497 0.01787572 -0.01367136
+v 0.03969179 0.01142625 -0.03921203
+v 0.04221669 0.01341915 -0.01427545
+v 0.04221669 0.01258858 -0.01570524
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+v 0.03767358 0.01102797 -0.01584866
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+v 0.04221669 0.01373086 -0.01364530
+v 0.04221669 0.01102789 0.00422923
+v 0.03815956 0.01102795 -0.01158102
+v 0.03659819 0.01787568 -0.00138994
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+v 0.04128983 0.01633991 -0.01364529
+v 0.04169122 0.01531024 -0.01364529
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_75.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5743ddb66e07e060bd81d07d460772c3b1589571
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_75.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01393977 0.04964616 0.01192105
+v -0.01393977 0.04960163 0.01138715
+v -0.01453650 0.04948971 0.01178518
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+v -0.02320412 0.04536380 0.00540513
+v -0.01957173 0.04706762 0.00540513
+v -0.02248999 0.04636415 0.01192104
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_76.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54f2aa2052fe8e966c26e3dc4e006408f8d44e96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_76.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.01791964 -0.04290491 -0.00024243
+v -0.01269176 -0.04290490 -0.00329450
+v -0.01791964 -0.04395926 -0.00000593
+v -0.01791964 -0.04290493 0.00651395
+v -0.01269176 -0.04475119 -0.00039429
+v -0.01338106 -0.04475119 -0.00035445
+v -0.01700210 -0.04475119 0.00014344
+v -0.01791964 -0.04475119 0.00031770
+v -0.01791964 -0.04424317 0.00006626
+v -0.01269176 -0.04290493 0.00480121
+v -0.01791964 -0.04473446 0.02200085
+v -0.01269176 -0.04475122 0.00681767
+v -0.01791964 -0.04475127 0.02213777
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 13
+f 1 13 11
+f 1 11 4
+f 1 4 10
+f 1 10 2
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+f 5 13 8
+f 5 8 7
+f 5 7 6
+f 10 11 13
+f 10 13 12
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_77.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98d871290dd3b1fe3d365227d1859f66e925570
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_77.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04450734 0.00015441 0.00453879
+v 0.04450734 0.01102722 0.00526148
+v 0.04297683 0.00015441 0.00415135
+v 0.04450734 0.00015448 -0.01394976
+v 0.04124507 0.01102723 0.00396419
+v 0.04450734 0.01102724 -0.00123802
+v 0.04194413 0.00015442 0.00318926
+v 0.04450734 0.00074623 -0.01396282
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+v 0.04297065 0.01102729 -0.01364498
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+v 0.04119741 0.00015442 0.00215753
+v 0.04450734 0.00106339 -0.01395846
+v 0.04139159 0.00048876 -0.03921207
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+v 0.04133510 0.00126143 -0.03921207
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+v 0.03549110 0.01102738 -0.03921203
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+v 0.03855653 0.00015451 -0.02189021
+v 0.03592889 0.01102736 -0.03393581
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+f 1 53 55
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+f 1 22 9
+f 1 9 4
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+f 53 56 55
+f 54 55 56
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_78.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb636c6db1adb1a64c5bfafb076b50d4b4d3c8af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_78.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03887702 0.03251636 0.04823443
+v 0.04394646 0.02562464 0.04823440
+v 0.03887702 0.03251636 0.04824916
+v 0.04420266 0.03251636 0.04823443
+v 0.04787048 0.02562464 0.04823440
+v 0.04394734 0.02562464 0.04824645
+v 0.04410934 0.02562464 0.05032026
+v 0.03906454 0.03251636 0.05031091
+v 0.04787048 0.03209873 0.05230707
+v 0.04477229 0.03177828 0.04823443
+v 0.04787048 0.03251635 0.05297781
+v 0.04787048 0.02675875 0.04823441
+v 0.04787048 0.02562460 0.05946562
+v 0.04418329 0.02562463 0.05056660
+v 0.04725594 0.02562460 0.05857397
+v 0.04305019 0.03251632 0.05906133
+v 0.04770320 0.02707112 0.04823441
+v 0.04712389 0.02809999 0.04823441
+v 0.04598551 0.03001807 0.04823442
+v 0.04589482 0.03016312 0.04823442
+v 0.04489379 0.03161635 0.04823443
+v 0.04787048 0.03251631 0.06187683
+v 0.04787048 0.02609012 0.06004131
+v 0.04735983 0.02639372 0.05977355
+v 0.04353530 0.03251632 0.05988871
+v 0.04696365 0.03251631 0.06187282
+v 0.04787048 0.03195229 0.06191031
+v 0.04787048 0.02955182 0.06135469
+v 0.04593708 0.03251631 0.06138951
+v 0.04444389 0.03251632 0.06047243
+v 0.04717407 0.03195229 0.06183131
+v 0.04650671 0.03251631 0.06170413
+v 0.04787048 0.03064951 0.06173223
+v 0.04753768 0.03090048 0.06166530
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_79.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f25753263197ade5b4a09ff3e44e4f1118f5b9bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_79.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05442952 0.00015599 0.04752699
+v 0.05077609 0.00015599 0.04752699
+v 0.05442175 0.00015599 0.04733652
+v 0.05443730 0.00106322 0.04752699
+v 0.04760862 0.01787376 0.04752706
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+v 0.04451307 0.01787387 0.01691687
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+v 0.04808972 0.00015609 0.01936911
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+v 0.04450919 0.01697706 0.01369077
+v 0.04691953 0.00015613 0.00698853
+v 0.05431095 0.00015599 0.04527309
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+v 0.04450919 0.01612362 0.01049245
+v 0.05105795 0.00015613 0.00698853
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+v 0.05377640 0.00045438 0.03864631
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+v 0.05111335 0.00312239 0.00905197
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+v 0.05187339 0.01706715 0.04618185
+v 0.04862816 0.01547661 0.00698859
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+v 0.05167512 0.00611984 0.01841678
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+v 0.04918604 0.01341757 0.00698858
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+v 0.05094035 0.00518143 0.00905198
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+v 0.05008215 0.01135853 0.01111543
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+v 0.04952621 0.01200383 0.00698857
+v 0.05050590 0.00724220 0.00698856
+v 0.05069445 0.00724220 0.00905199
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+v 0.05371128 0.01034015 0.04752703
+v 0.05164887 0.00800366 0.02081751
+v 0.05132231 0.00929946 0.01936914
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+v 0.04984597 0.01149731 0.00902422
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+f 72 75 73
+f 74 77 78
+f 80 83 81
+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642810d51d08304c437f98b671d665d8cfb0b09b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04451912 -0.01159539 0.00543409
+v 0.04451912 0.00015441 0.00454091
+v 0.04297629 0.00015441 0.00414666
+v 0.04112732 -0.01159538 0.00402341
+v 0.04451912 -0.01159537 -0.00112033
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+v 0.04239801 0.00015442 0.00361072
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+v 0.03933760 -0.01159538 0.00144230
+v 0.04451912 -0.00228381 -0.01287392
+v 0.04451912 -0.00305671 -0.01220862
+f 1 2 3
+f 1 3 4
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_80.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c263a06f71d5f48e4bfa4524813e5ab7f774efe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_80.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_81.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1194fbcbde6d2801d3cbcab26b5820d5c71995
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_81.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_82.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9ac57ad5a1c74fefdbc637b3bc5d31a6fb99cf0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_82.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00013229 0.04377694 -0.01675867
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+v 0.00107811 0.04377694 -0.01676133
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_83.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a67745c3d20df688d6309e28be23f8ab6315d30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_83.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_84.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f13033babc97ab67eff46ee8a30324b3cb1ca71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_84.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_85.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265c8a71aa5f2f977d8bc6d9b90a18828d3405e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_85.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_86.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75463d6d6dc60dc4a6e68512e4ecf103b75f948
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_86.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_87.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe53c3a80bef982982dfea65a5cd53278ebb65a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_87.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_88.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8a123997fb23e8466337b665c96fc285741057
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_88.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.05272638 -0.02492167 0.06193709
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_89.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7f6efdfb7732309dcc4376debf21f925e5316c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_89.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10519790dcb4e40b9acf7f6fce4a3becf04e3905
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_9.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_90.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d781bb5ece503a0df61092acf69a93959b2193
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_90.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01393977 0.03819487 -0.00259951
+v -0.01393977 0.03848151 0.00024164
+v -0.02630515 0.03097225 -0.00259954
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+v -0.01393977 0.04806096 0.00107382
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_91.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1960276a58c7737bd4117a4ea32c2d99d64d6649
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_91.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_92.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adeadabe099562e04f574840fedc37efd79fd914
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_92.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03933884 -0.03191973 0.04712929
+v 0.04424357 -0.02492161 0.04712932
+v 0.04446428 -0.03191973 0.04712929
+v 0.03941625 -0.03191974 0.04824806
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_93.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a7dcacd63d5bef0f1a597c0b3eaf5d2ae3c825
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_93.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v -0.00924789 0.05666577 0.06239094
+v -0.00098796 0.05867897 0.06220780
+v -0.01131287 0.05666577 0.06238152
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_94.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3fa54b1dbfcfa4d2b969ef3f04dc8225631c90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_94.obj
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_95.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb044b524d31b6e2a067f9776bb3fb939a7f88b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_95.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_96.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ecbae43a29823ad0a79a728e7754b2bed47c575
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_96.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.05603194 -0.01266341 0.06205837
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+
diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_97.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06154a15a3156d472e29e49ce413e02cb273f41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_97.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02509168 0.05517502 0.04893529
+v 0.02793022 0.05404236 0.04891729
+v 0.02509168 0.05461461 0.04893658
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_98.obj b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55542ec25a0f9aba772b99a5db1d96120edf3788
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mjcf/mesh/yellow_cup_collision_98.obj
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/textures/material_0.png b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/video.mp4 b/dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/video.mp4
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