diff --git a/.gitattributes b/.gitattributes
index 97cc1769073431cb23790df62dea5eb5197e3170..7984792e0a24bf16444871ece91fe676c979db91 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4807,3 +4807,6 @@ dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/baby_bottle_003.u
 dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mesh/baby_bottle_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mesh/baby_bottle_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mjcf/mesh/baby_bottle_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.urdf b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4412c12b32f290309c4961e75ee8e2c43330171f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cup">
+   <link name="cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/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/cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.143518</scale>
+         <version>v0.1.7</version>
+         <category>cup</category>
+         <description>simple gray ceramic cup with rounded handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.11</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260119230832</generate_time>
+         <gs_model>mesh/cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.847095966339111</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/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..44072983290c6f6ea62fe066773ff8940f141644
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735c9861d9635a6b0bacb528b7670e8127bdaece89662a7f2eabdbe6b6e7b144
+size 503035
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9cb6908975826815331e13837955531bd0a1afbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb2576b8d42f6243d71fb0d29514efeee9a66365ac691f83d39d8318bf91f521
+size 1003784
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..750ddd9e0d7c8a997fac74cf2ab1b23683651b59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.obj
@@ -0,0 +1,30832 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85954c83e63dc6aeab3e1260ddcf9fdf6ffadadf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..64160ccee2159ee7383bdb922195e70d3e4285a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7d6fa37f484adaa1857649f6386cfdff0e410512f574c43d6605458b1be68ec
+size 4519561
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/material.mtl b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/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/c82197c44db05605a21ccd4b4e1cecb3/mesh/material_0.png b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eddc1b8beea1f4bc8143d5c90ea161aef7157afb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30cf3fa199345c68c162a70ac8687e7119dd1a3ccf8d4747e97dd49c3a166ac1
+size 665576
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/c82197c44db05605a21ccd4b4e1cecb3.xml b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/c82197c44db05605a21ccd4b4e1cecb3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..abe6e6e74ac99e10868329b9422e985d492ed58d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/c82197c44db05605a21ccd4b4e1cecb3.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cup">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/cup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/cup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/cup_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/cup_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/cup_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/cup_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/cup_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/cup_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/cup_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/cup_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/cup_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/cup_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/cup_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/cup_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/cup_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/cup_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/cup_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/cup_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/cup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/cup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/cup_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/cup_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/cup_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/cup_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/cup_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/cup_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/cup_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/cup_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/cup_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/cup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cup">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a87beb1757bf15e3cc6dba3bbff7cc73b3a4128
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup.obj
@@ -0,0 +1,30832 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.012292 -0.048523 -0.039746
+v 0.012212 -0.047618 -0.040713
+v 0.012121 -0.046720 -0.041494
+v 0.046351 -0.017614 -0.007187
+v 0.046739 -0.020138 -0.003461
+v 0.045706 -0.020139 -0.010012
+v 0.045245 -0.017606 -0.014214
+v 0.045153 -0.020191 -0.013480
+v 0.044075 -0.020080 -0.019910
+v 0.045029 -0.013849 -0.016905
+v 0.044082 -0.018239 -0.020636
+v 0.045666 -0.013766 -0.012831
+v 0.047431 -0.014931 -0.001089
+v 0.046875 -0.013737 -0.004980
+v 0.047540 -0.020082 0.001447
+v 0.047935 -0.013715 0.002121
+v 0.048267 -0.017330 0.005336
+v 0.048599 -0.013678 0.006592
+v 0.049073 -0.018192 0.011234
+v 0.048166 -0.019989 0.005629
+v 0.049207 -0.013299 0.011195
+v 0.044033 -0.013537 -0.022284
+v 0.042900 -0.018005 -0.026935
+v 0.043059 -0.019840 -0.025467
+v 0.043247 -0.013595 -0.026189
+v 0.048839 -0.021152 0.011773
+v 0.049813 -0.018664 0.016284
+v 0.050618 -0.018621 0.021978
+v 0.050824 -0.015471 0.022724
+v 0.051427 -0.018408 0.027649
+v 0.050166 -0.015084 0.018130
+v 0.042594 -0.019806 -0.027662
+v 0.050402 -0.022466 0.023356
+v 0.049973 -0.021093 0.019313
+v 0.052155 -0.018248 0.032655
+v 0.051327 -0.022570 0.030520
+v 0.052398 -0.022542 0.037600
+v 0.053572 -0.018006 0.042140
+v 0.053184 -0.021850 0.042084
+v 0.053922 -0.022441 0.046942
+v 0.054228 -0.018208 0.046444
+v 0.054694 -0.022186 0.052533
+v 0.054913 -0.018014 0.051736
+v 0.054161 -0.024950 0.051052
+v 0.049786 -0.022928 0.019771
+v 0.051455 -0.015417 0.027444
+v 0.052352 -0.015698 0.033741
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b4386d4a0f4f30faef56e42ea8af1925dd8d4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision.obj
@@ -0,0 +1,22203 @@
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_0.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7829ecb50e5bdb0c7f827eae41cbcbfc8f15af0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_1.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b261ef23e7bc8204c0c60388a1058a18d43d817
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_10.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f00a900d85ce003370a362c2d53c70068473b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_11.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77932779978af48c5ad89674445c83eb0d131c69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_11.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_12.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df79eb185068341ba1444d7ec779a8f8d1f0254
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_12.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_13.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588fc760e6f515d3c2607af586e6c89cd33ab693
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_13.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_14.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac909775f23950f7e297747b19c505dcbe03cca1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_14.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_15.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29e15d09c60d59468b1c2ae70ca073e351e2730
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_15.obj
@@ -0,0 +1,1027 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_16.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018d8509d10af3b92fbd6c0ff5f9c6f98737e7ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_17.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb8f8aa64c3df49428a309dba99837c36aec262
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_17.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_18.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e3c3e5c3c0c817038a7d873bd71ba2852721bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_19.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c36e28400ae6d262aa2530f01d52526bbc37717
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_2.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c2ca8ce093b35ed21dbbb259803a6d9a6fecf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_2.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_20.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7249ffe28a47241c5b34719d9a52b0a832aab2fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_20.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_21.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d19c98e673282d92e22ed1bd1f2dec4b8443d43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_22.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78b69be60b53f86871718b08defd81fc844d94d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_23.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095f67a1cb195f481898d9ed1c138e8da238efad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_24.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540d3d30af4d53f21e5f46a4045bfcfbe2ca7e59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_25.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b168fbebda5b23009153875dac2de292e3165b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_25.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_26.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf57b6cc1cf4159c32542a27a4abc1d1e72cde71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_26.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_27.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a401a582dd7e4edef31b789ccebb46f1d6a0052
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_28.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e75e11232b61e99fa62e95f4c71b8bd53049504
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_29.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6906333c9ec28e2daddf1bce28e8a17dc80f45bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_3.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade1ac6276ecbb08ca7266540205748bb3c34291
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_30.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82565ec227ab66ed76a8e3efdcae83fbe4289a7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_31.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ceeb7e3051b879485ab795e61cc6b98e5076c98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_32.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8538b6bb08253005bf3bd19ec0913065d1032851
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_32.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_33.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a094978b3e0f0ea7425e708e5b90f95ed1ff59e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_33.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_34.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc96d4f4a72d9aac6cf6da209ed2e9c3d2bd0139
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_35.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe7831dddc01bb85f4ee292ad0c0ed9bf05eb0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_36.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..552c56771c5b15b6e8b5a3ac28d4e94298bbd348
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_37.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6918011616b3a23fd122a3b1827236b9b01e8a57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_37.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_38.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d14834accfbcc2a809e7fd105c2d66e481458f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_39.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd149b4529a34405b85570829e6ff7bf29044d65
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_39.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_4.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4aa36bdb1ba800a7a009d91fbc4e0b8511ac7d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_4.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_40.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd86b4db8c7c8ba4d78b3617f89709ed85cc25a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_41.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04aaf9f4c9d686117e35a38764057bab2b5c9f46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_41.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_42.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae0cd364df67f5938091a27908f2eddb164537f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_42.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_5.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2867f5b5f0df5ab8b6a9bc8db77740a0ffc5bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_6.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efa098375f23d6f52a26f2c80261ee21548c85c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_7.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a289c81bf67a91b056dbbd01ebd8f4b2d4442a9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_7.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_8.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70e4897da2eee192e9da2dab531c6ed5cce88c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_8.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_9.obj b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e829fb7e555757e3719c74da20647cc25e08e2c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/cup_collision_9.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eddc1b8beea1f4bc8143d5c90ea161aef7157afb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 665576
diff --git a/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/textures/material_0.png b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eddc1b8beea1f4bc8143d5c90ea161aef7157afb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/textures/material_0.png
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