diff --git a/.gitattributes b/.gitattributes
index a821bf2a2fe1775bf2b2d5bb0dad97228ded5e47..e9e01a9138743123289a5421dde8c5732c45d465 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4816,3 +4816,4 @@ dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.urdf b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52e794de9e299d88fc57990f79c579f6053588f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.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>0.165872</scale>
+         <version>v0.1.5</version>
+         <category>cup</category>
+         <description>simple yellow ceramic cup with rounded handle</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251011210344</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.58683717250824</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8287e6e1277d233e8742bd32b7d01c72b8379397
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:595e25774091f0bb39ad02c6128866d03ac5fe9d0dd379190262d4123605a543
+size 280861
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/material.mtl b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/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/d2fce2a71bee50e4be221f1f20afbc53/mesh/material_0.png b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..313d3e3f1a7270a49b32b8a9071f1a21fb594fba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce44d0d7032a0c843e1607cdf0585a2c90448d2f29bc7f63d5e408640cb102f
+size 927926
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a888ad55c6517c6ec67881159f66aa2053acbb07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417ee69f11c8e2d7784e2ee5f5025f59e602ec8255498a941c12ea5924b72a16
+size 1116604
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b5a48dfa7006921bfdd16be6577f3693ae4de3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup.obj
@@ -0,0 +1,17150 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9effaf2f7b3a1e4c56bbe520da2c2bbf6926d3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup_gs.ply b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..123938f26e47827dd410120117ad3877e879f74b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mesh/yellow_cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/d2fce2a71bee50e4be221f1f20afbc53.xml b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/d2fce2a71bee50e4be221f1f20afbc53.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b57d858daf5079bcc6f63cc6bfae3e79832f3b32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/d2fce2a71bee50e4be221f1f20afbc53.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/yellow_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/yellow_cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/yellow_cup_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..313d3e3f1a7270a49b32b8a9071f1a21fb594fba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce44d0d7032a0c843e1607cdf0585a2c90448d2f29bc7f63d5e408640cb102f
+size 927926
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41091d0b6a1665da213b8c127e0f72cbb1288ef1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup.obj
@@ -0,0 +1,17150 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e707382206e77a111a8eba6cdd67128b8da1b138
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6edb7dff5b3b49e019a86d6e4fa4246cc0a44583
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693bce8f14d5f07a34ac3aa1f0cbdf229bc4f9de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_1.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d1b3bf556643e1781a1127c8f7ec846857dd68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_10.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0da9a752a905a9409b5e0232a0ab77fddaf188e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_11.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d88ab382379341070bd3caadeaf1777e500b3f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_12.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862675a65d1d2a2ca4614a3326a17381657468a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_13.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0863ed84637dc4bcdebf137c0c5b87250355eba5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_14.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..987fe16da84bbe628bb5c5b99b22a6318fa004aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_15.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d727cb2687a193384467aa6ee3eff98832c0cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f539815e5340221f4b0e0edccd24cbb4eec37e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f8fe27ff700e90442191d41ff17e05b194c25e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79603469ad69efe4fa3820f38288af306496d82b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66518eeecf25acf3829aa78102a5be5d1835a72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b020997fd4d972ba637d31f28cfefb111619ec0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b411925cace55615ce620e566294923e0ff87a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_21.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1322a3b1c2d2c6bd583b0c83755c969f474323b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_22.obj
@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144215a3d75347281e7da5d5df9ca0d51d548282
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807672cd7c3254fb38cb1ef555a3ccab203fdc69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_24.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056a1e5ab22d76fc03f0535d89461135b4409773
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_25.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a4c7891a59eee6f6d8aa749c08250334e989a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_26.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d60b5f2e4a0d10576e83c2fc26f3c7b9dcd8e67
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_27.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6befcbbaeaab196d1f42467608960611fbf32878
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331f5cc0716cb413a0aeaa5fc2b4a68bad33ab38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_29.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd06d6f5cd700c0f71bff11407f429a1828235fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_3.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f903bc48d4e334e536eb3004a38563438e4bd305
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a62b7325aaa654f5418fa36e906afa244fb2716
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_31.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d36dad76110d68e7b4af9100d3ebbc70826859
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_32.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abbdc99bfd7f9aa38e9d423bffbf63a09c162bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_33.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2acfd96446255686cbae4082afd89b68e77a34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_34.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad59722c587bf53201508a870f1f46e1743e060
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_35.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2ef5b923f636810ec4f59f7456b6eaaf6f25449
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_36.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5037cb14ef0257995c6d5f150d47889da5e3bbf3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_37.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00788870 -0.04945369 0.04882176
+v 0.00550499 -0.04945369 0.04855644
+v -0.00788870 -0.04931292 0.04876281
+v -0.00788870 -0.04945357 0.01597396
+v 0.00603376 -0.04945369 0.04838694
+v 0.00603376 -0.04904341 0.04801844
+v -0.00788870 -0.04839108 0.04742885
+v -0.00753437 -0.04945357 0.01514115
+v -0.00788870 -0.04560989 -0.01493555
+v -0.00578589 -0.04857453 -0.01480290
+v -0.00552695 -0.04857452 -0.01604842
+v -0.00514537 -0.04857452 -0.01733079
+v 0.00603376 -0.04945356 0.01337974
+v 0.00603376 -0.04884256 0.04772365
+v 0.00603376 -0.04867604 0.04746570
+v -0.00788870 -0.04708642 0.04500414
+v -0.00650545 -0.04945356 0.01345344
+v -0.00495321 -0.04857451 -0.01778036
+v -0.00376893 -0.04857451 -0.01985131
+v -0.00788870 -0.04520647 -0.01764769
+v -0.00788870 -0.04438247 -0.02035981
+v -0.00788870 -0.04298853 -0.02401530
+v -0.00788870 -0.04197742 -0.02646948
+v 0.00579799 -0.04945356 0.01303335
+v 0.00479360 -0.04857451 -0.01840680
+v 0.00502119 -0.04857451 -0.01802356
+v 0.00552134 -0.04857452 -0.01694755
+v 0.00593291 -0.04857453 -0.01493556
+v 0.00603376 -0.04820717 -0.01493556
+v 0.00603376 -0.04744692 0.04502626
+v 0.00603376 -0.04717568 0.04447352
+v -0.00788870 -0.04675338 0.04414924
+v -0.00550924 -0.04945356 0.01249535
+v -0.00360267 -0.04857451 -0.02008715
+v -0.00788870 -0.03191615 -0.02646945
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+v -0.00143444 -0.04857450 -0.02139899
+v -0.00168519 -0.04857450 -0.02131055
+v 0.00401271 -0.04945355 0.01164780
+v 0.00368837 -0.04857451 -0.01995449
+v 0.00603376 -0.04217827 -0.02646948
+v 0.00603376 -0.04725099 -0.01746344
+v 0.00603376 -0.04638774 0.04227727
+v -0.00788870 -0.04656455 0.04364808
+v -0.00136493 -0.04945355 0.01012223
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+v -0.00188689 -0.04299539 -0.02646949
+v -0.00141808 -0.04304002 -0.02646949
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+v 0.00394321 -0.04261601 -0.02646949
+v 0.00603376 -0.04629331 0.04198985
+v -0.00788870 -0.04598088 0.04186455
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+v -0.00788870 -0.04242738 0.02834073
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+v 0.00093276 -0.04301942 -0.02646949
+v 0.00126665 -0.04301599 -0.02646949
+v 0.00603376 -0.04559636 0.03979360
+v 0.00603376 -0.04539550 0.03915979
+v -0.00788870 -0.04517748 0.03915979
+v -0.00788870 -0.04302993 0.03103813
+v 0.00603376 -0.04318786 0.03103813
+v 0.00603376 -0.04259389 0.02834073
+v 0.00603376 -0.04479810 0.03714044
+v 0.00603376 -0.04454575 0.03627815
+v -0.00788870 -0.04442558 0.03649188
+v -0.00788870 -0.04364793 0.03360286
+v 0.00603376 -0.04330117 0.03151717
+v 0.00603376 -0.04390028 0.03391977
+v -0.00788870 -0.04413719 0.03543798
+v 0.00603376 -0.04378869 0.03348495
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+f 1 44 57
+f 1 57 65
+f 1 65 71
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+f 1 66 59
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+
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a03bc38411255a6cef8a9fa04a1c507ecdd2e7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_38.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00587066 -0.04857657 -0.01263705
+v -0.00515236 -0.05600863 -0.00984430
+v -0.00510147 -0.05600863 -0.00953173
+v -0.00573880 -0.04857658 -0.01208258
+v -0.00580589 -0.04857657 -0.01456750
+v -0.00578738 -0.04857657 -0.01480625
+v -0.00494532 -0.05600863 -0.01223654
+v -0.00449306 -0.04857659 -0.00932593
+v -0.00393669 -0.05600864 -0.00702639
+v -0.00552713 -0.04857656 -0.01605342
+v -0.00486088 -0.05600862 -0.01254912
+v -0.00432418 -0.04857659 -0.00900707
+v -0.00378517 -0.05600865 -0.00677979
+v -0.00514542 -0.04857656 -0.01733828
+v -0.00495342 -0.04857655 -0.01778752
+v -0.00362901 -0.05600862 -0.01493508
+v -0.00152270 -0.04857659 -0.00701066
+v -0.00196918 -0.05600865 -0.00554361
+v -0.00376897 -0.04857655 -0.01985461
+v -0.00355152 -0.05600861 -0.01506231
+v -0.00143363 -0.05600865 -0.00538654
+v 0.00138289 -0.04857659 -0.00701223
+v -0.00360241 -0.04857655 -0.02009022
+v -0.00346245 -0.05600861 -0.01518011
+v 0.00007468 -0.05600865 -0.00538968
+v 0.00128920 -0.05600865 -0.00539596
+v 0.00312832 -0.04857659 -0.00758084
+v -0.00168579 -0.04857654 -0.02131226
+v -0.00321145 -0.05009804 -0.01941795
+v -0.00293732 -0.05516310 -0.01641471
+v -0.00223868 -0.05600861 -0.01614612
+v 0.00366386 -0.05600865 -0.00677979
+v 0.00452559 -0.04857659 -0.00886099
+v -0.00143363 -0.04857654 -0.02140336
+v -0.00143363 -0.05600861 -0.01643671
+v 0.00560593 -0.04857658 -0.01038147
+v 0.00512591 -0.05600863 -0.00978148
+v 0.00075134 -0.04857654 -0.02143007
+v -0.00031396 -0.05231004 -0.01905983
+v -0.00062511 -0.05600861 -0.01643671
+v 0.00515251 -0.05600863 -0.00985530
+v 0.00594253 -0.04857658 -0.01205431
+v 0.00128920 -0.04857654 -0.02143007
+v 0.00017300 -0.05231004 -0.01905983
+v 0.00128920 -0.05600861 -0.01640843
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+v 0.00479279 -0.04857655 -0.01840796
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+v 0.00502065 -0.04857655 -0.01802627
+v 0.00492465 -0.04868497 -0.01812837
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+f 1 36 42
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+
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58964855a7181325e10ee0452fa9288359128e6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_39.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00788870 -0.04945357 0.01597744
+v -0.00753437 -0.04945357 0.01514765
+v -0.00562507 -0.05600948 0.02132253
+v -0.00788870 -0.05019476 0.01744503
+v -0.00788870 -0.04945363 0.03266163
+v -0.00650545 -0.04945356 0.01345495
+v -0.00468065 -0.05600947 0.01986598
+v -0.00579406 -0.05600948 0.02237302
+v -0.00788870 -0.05080698 0.02022793
+v -0.00585130 -0.05600948 0.02281219
+v -0.00788870 -0.05164834 0.03266162
+v 0.00603376 -0.04945363 0.03266163
+v -0.00550924 -0.04945356 0.01249495
+v -0.00334509 -0.05600947 0.01833659
+v -0.00441490 -0.05600947 0.01948639
+v -0.00788870 -0.05111245 0.02291152
+v -0.00578861 -0.05600949 0.02451371
+v -0.00143444 -0.05600950 0.02811317
+v -0.00744306 -0.05171507 0.03266162
+v -0.00574228 -0.05600949 0.02474103
+v -0.00485100 -0.05600950 0.02609386
+v -0.00348955 -0.05600950 0.02743786
+v -0.00324561 -0.05600950 0.02754158
+v 0.00603376 -0.04945356 0.01338654
+v 0.00603376 -0.05184535 0.03266162
+v -0.00136493 -0.04945355 0.01011591
+v -0.00159934 -0.05600946 0.01741632
+v 0.00128846 -0.05600950 0.02807345
+v 0.00128846 -0.05212899 0.03266162
+v 0.00121759 -0.05212963 0.03266162
+v -0.00143444 -0.05213348 0.03266162
+v -0.00415869 -0.05201669 0.03266162
+v -0.00703286 -0.05177604 0.03266162
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+v 0.00320321 -0.05572903 0.01832116
+v 0.00208570 -0.04945355 0.01089936
+v 0.00256814 -0.05600947 0.01816666
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+f 1 11 5
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+f 52 53 55
+
diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c4f323518f2d00760dcfa32c39274e41390a39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_4.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.00603376 -0.05569791 0.04727133
+v 0.00673823 -0.05563849 0.04727133
+v 0.00880445 -0.05506128 0.04874731
+v 0.00603376 -0.05534989 0.04844168
+v 0.00603376 -0.05567810 0.04657807
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3ad3fdadbc4c94eb27749c41ccc16fb776e1f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0dccd7915a2fef7899a72e0a9d28f3ef000e84e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_6.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8468425fb3a44a285c508f47fc95385a68f6f820
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa42a98a73efa6c3582798da219333b64cb5d807
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194c77e10a0d14d0c820c2c7c7327e77681150db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/mjcf/mesh/yellow_cup_collision_9.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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