diff --git a/.gitattributes b/.gitattributes
index 05bb7118db51a17d07ec63bc58e14b3c30420298..e74ad76fed121f527c684f748c308144c1473577 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4776,12 +4776,6 @@ dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/mesh/thermos_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/thermos_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mesh/mug_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mug_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/b7e9bab886945955a2c70a0ba812570b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.urdf b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9aa455ccddd70a9461e99a7d32e7d793648533df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.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="0.1500" />
+         <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>simple purple cup with a flared rim and smooth surface</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120062816</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.635542869567871</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.usd b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c1c224731aca26d147609ec237b9ad6895cdadc6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/b2ff685295985d57acc7e8796c157918.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40628b62f0eb51a57d0fb8495f7f6860f2dc708390241fd2d78a2967b8ea1bdf
+size 1162493
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/material.mtl b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/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/b2ff685295985d57acc7e8796c157918/mesh/material_0.png b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9eb1975914980ae34b13e4012922de51484994d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea1fdc1c0c3ae812fea28019e0f148805376f2f2c271fa3f6991774de1784f2
+size 1415184
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..36f6a0f7cd7c1413304f9e04444f314b5a58737c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dbf1a40fef43cb532d0454031b1b16aaf1af9839006aadf0e69ef919abf2ed6
+size 2215572
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad083146917ce58d7c0032a354431ee357b7c29f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.obj
@@ -0,0 +1,73358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5e88f8ac986bb1cc564648a91cd32abaf5fa30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup_collision.obj
@@ -0,0 +1,16676 @@
+# https://github.com/mikedh/trimesh
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11aa9cb22268e0a14c09dc553119a549c4b7d969
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406d7472d4721aa0f48db0d06b5b947bc5e4108b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,16676 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587d4a5d47b4f612e2f2a626eeedd234aa274e1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7355a1685dfe927feef9f7ef94f7666f1bf484
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f37713941bd894d3dced4d59b3f76451a55a9cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_10.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfa48d2f078dec21a8a4cb0221e75903efc5898
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_11.obj
@@ -0,0 +1,172 @@
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7dc79ef36025acdc85d673e094e12433ad8ec30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_12.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd79a0c041f7be0a0e8f8792026bd40febcd9445
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_13.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5860438a765f9c4a61101abd742b3cb025cf3a12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3aa29b343ac4b6b806c9dd73a9caa31ce3231ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_15.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64af6277e6c022e2537d6980a0fef9fea369bd09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_16.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01707770 0.02490030 -0.05375996
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a4d1533db6711f526bbdecb216145307111d0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b966abd8d502bafaf25be2c0574fd9dfdd91ecf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_18.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b2ef407f978aee94d4facabf10dabc200ca181
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3896c8e709e887220066a0337fcbe21268be8663
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ecc2948efc0d38d9015a2e9b71cc2c1b1a63627
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_20.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ff70017e0e740fca74f678669c5c8c1651c948
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4b362ae05151fe52c98dee0ecf49121a8ee641
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_22.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd2d607437a22d3f28ff3ea258000a249bae86f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_23.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b54138827f1547a12483bb585c0d7f9a7c02e98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_24.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9574c402a0a4341f073d13a14bfde189dc44666b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d05ced01350cf42f7e9b5b4a2b19658c9c0468
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_26.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04361512 -0.01759253 0.05673412
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b747c96230e5ebb07f4e51565c82407594bf586b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5fa888b440204a2bd6cd57ff176acc153b21c0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_28.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e490e81483c878e1a4f0a9ff590c8184a8a9dd51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_29.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1444ee620f69d562ecd2a736095485d253579342
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_3.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8904fa1793617a23edfea7024ff6b1d3c63f74cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_30.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed61bb9f70715250d9a0246b85713b89f1c481d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_31.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276d1886b718440962e3352d2b4d096391b5fca1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac2dec31f8cf618d64b8d3d322f33ade04fcf23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.04216320 0.01670023 0.01810090
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+v 0.03769048 0.01670023 0.01810090
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6288df35322f673b3cc518f7f1e81021213f7256
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00061969 -0.04088351 0.01810069
+v 0.01601598 -0.03745799 0.01810070
+v -0.00061969 -0.04467892 0.01810068
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382a869e189c7ca844ac7e35daae696d49842a5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_35.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v 0.05784798 0.00007993 0.05469139
+v 0.05777165 0.00007992 0.05675168
+v 0.05773115 0.00007993 0.05349225
+v 0.05773115 0.00121912 0.05349155
+v 0.05784643 0.00121912 0.05469139
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+v 0.05765327 0.00121911 0.05785998
+v 0.05765638 0.00007992 0.05786772
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+v 0.05775919 0.00327663 0.05469140
+v 0.05764859 0.00456692 0.05606869
+v 0.05768130 0.00316425 0.05675380
+v 0.05762990 0.00240479 0.05780366
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+v 0.05659243 0.00007994 0.05291487
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ee9927d40af782ba901893968c4b4a9f397f0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c51a18645ea7dda8a5ae11eb1cdf4c610861852
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e3db7ead793c903853cc39fd1667bd17cd574e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_38.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde9d5f525129e31acf840f906fbe1e76f357016
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_39.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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+v 0.05207049 -0.02326385 0.05859473
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee51a4e32cfcb918b6a7b429b01b44ce7e9dc13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebb784fc37c3d05d5ed11fd673683c6239e0f05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_41.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc7293030d1805ca87b5ebae66a4ac17603225d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_41.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_42.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ea6dbfc16157cda044b9b47e44d0a46b7744f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_42.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_43.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6a188bb3e0afdd509b976745d6160f605bfa87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_43.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_44.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f24d049d569d2928c3193428083bade0161bbe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_44.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_45.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f688361bd3e2bc5dfc676b4a6e2822e5953ed5b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_45.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_46.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7591040eb71074c3ee872ccb0a442dd07202c606
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_46.obj
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_47.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bee6a48030eba77eb7dbdbfc532d33f9fbafaf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_47.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_48.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..249c137473659576bd73180eef6c29dbaaa96f71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_48.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_49.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94b993aa89f44dcf1d61a394bc58f15df2c69854
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_49.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..453b524023bb4fd4fca37be812d748f7931473b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_50.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a388d90ae76784218908d928a3cafe77fb8e0b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_50.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_51.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61e49fa304a9895fda1d7ced119a0dca38ec5fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_51.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_52.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f5009a4a6bf037b26f71a15d6891d1271a9b43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_52.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00061969 -0.05230803 0.06117553
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_53.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7507bb4ccd94b342448705a1c40e9b8580aedf55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_53.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa2db01d3f85d0445d96617f9649226632e9e73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29659a682c12e2111612f15787bd7e0adcc0e20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_7.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02995658 0.02802361 0.01810442
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe71bceb31776af29b361e6b3abe195359b97191
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_8.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee06fdec5b3b7fce1255d299b7c284961068dee1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mjcf/mesh/purple_cup_collision_9.obj
@@ -0,0 +1,358 @@
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