diff --git a/.gitattributes b/.gitattributes
index 9b1c2954a73c7cbf2e68816143b90f803a5487f5..d2b9f00bd2c74583eecf991edaaedf949daa7070 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4756,3 +4756,6 @@ dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/thermos_004.usd f
 dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.urdf b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a4d2c618b5244eb1c8c9ef6aabf237533f5550b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.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>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>purple plastic cup with ridged design and slightly flared rim</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260120060015</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.711868762969971</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/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.usd b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f100dd93bcbe5f2e0c8e67406348100562102f9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/928bb45f83025c9c896974675fa49a12.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0b9af392bf174031231b4956181d27e5c4ab35d74d71ca940c9374019d3592
+size 1212629
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/material.mtl b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/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/928bb45f83025c9c896974675fa49a12/mesh/material_0.png b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9514a6d7ef317bc446be43b69eee25e7926952
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8742fe444ea656d4d5445f04873c7ffd31e00d4ca3f0526593c4663f78514d2
+size 1576124
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.glb b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..813323ab65d9ff2a1f1310900a815a8b5de12c9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff920a03c857e5ff65e1e0cfeb4b302a3b6c0b0e622329fdfba6a879fdd4284
+size 2393324
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e65476239037a696b82d785e762573f94db2d8f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup.obj
@@ -0,0 +1,74660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10ba7cf8e34026a767c6ab343e83ad2a694694c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup_collision.obj
@@ -0,0 +1,13412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup_gs.ply b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mesh/purple_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8a931881b3c6521e51167ae66f3be7387be317ce
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/928bb45f83025c9c896974675fa49a12.xml b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/928bb45f83025c9c896974675fa49a12.xml
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="collision_mesh_0_2" file="mesh/purple_cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/purple_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/purple_cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_25" file="mesh/purple_cup_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/purple_cup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/purple_cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/purple_cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/purple_cup_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="purple_cup">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9514a6d7ef317bc446be43b69eee25e7926952
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8742fe444ea656d4d5445f04873c7ffd31e00d4ca3f0526593c4663f78514d2
+size 1576124
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6be8e86a909a7df0512505d40e9e271acea269
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup.obj
@@ -0,0 +1,74660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..954c19a5ed2406985adbdd8ab892af61e8a72994
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision.obj
@@ -0,0 +1,13412 @@
+# https://github.com/mikedh/trimesh
+
+o purple_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_0.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03fd1777103898ea96497a91272c4d5f526d799
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_0.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_1.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5c5f7854436f08102066ad06404ae1d93d25b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_1.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_10.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14926107b9b0a67f6348fd6892b9f2403ad8c8ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_10.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_11.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0224701f493768f607cac0d1811e5b59a6d815f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_11.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_12.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c7be1826d829925789bbdf62382e397c5f5638
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_12.obj
@@ -0,0 +1,364 @@
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_13.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88f13097cf80659a13142f66024ffc95a6612818
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_13.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02207785 -0.02373139 -0.05732699
+v 0.02207785 -0.02765370 -0.04454005
+v 0.02207785 -0.02866918 -0.05732701
+v 0.01213042 -0.03002368 -0.05732701
+v 0.01213042 -0.03317795 -0.04454007
+v 0.02207785 -0.03283899 -0.04454007
+v 0.02207785 -0.03059669 -0.05732075
+v 0.02206421 -0.03060476 -0.05732701
+v 0.01213042 -0.03552103 -0.05732703
+v 0.01213042 -0.03747145 -0.04454009
+v 0.02113821 -0.03348059 -0.04454007
+v 0.02103695 -0.03131361 -0.05732702
+v 0.02178378 -0.03080114 -0.05732701
+v 0.01292302 -0.03528699 -0.05732703
+v 0.01382467 -0.03701278 -0.04454009
+v 0.01327063 -0.03717419 -0.04454009
+v 0.01930472 -0.03233588 -0.05732702
+v 0.01935048 -0.03445846 -0.04454008
+v 0.01366985 -0.03503277 -0.05732703
+v 0.01528037 -0.03655007 -0.04454008
+v 0.01824824 -0.03291157 -0.05732702
+v 0.01713042 -0.03565694 -0.04454008
+v 0.01395126 -0.03493188 -0.05732703
+v 0.01548193 -0.03647878 -0.04454008
+v 0.01734951 -0.03336352 -0.05732702
+v 0.01532613 -0.03433602 -0.05732703
+f 1 2 6
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+f 1 17 21
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+f 1 25 26
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+f 24 26 25
+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_14.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d6fb64c17f1b6c38944879073b48202f87cd9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_14.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00039124 -0.03196477 -0.05732702
+v 0.01213042 -0.03002239 -0.05732701
+v 0.00039124 -0.03732670 -0.05732704
+v 0.00039124 -0.03529563 -0.04454008
+v 0.01213042 -0.03317847 -0.04454007
+v 0.01213042 -0.03552056 -0.05732703
+v 0.00093821 -0.03733925 -0.05732704
+v 0.00039124 -0.03917411 -0.04454009
+v 0.01213042 -0.03747196 -0.04454009
+v 0.01121344 -0.03579395 -0.05732703
+v 0.00284456 -0.03721465 -0.05732704
+v 0.00169662 -0.03913288 -0.04454009
+v 0.00093821 -0.03917860 -0.04454009
+v 0.00060727 -0.03917591 -0.04454009
+v 0.00919218 -0.03834410 -0.04454009
+v 0.01065268 -0.03593736 -0.05732703
+v 0.00351679 -0.03716177 -0.05732704
+v 0.00299395 -0.03904593 -0.04454009
+v 0.00888881 -0.03839608 -0.04454009
+v 0.00710312 -0.03673959 -0.05732703
+v 0.00859694 -0.03643125 -0.05732703
+v 0.00915885 -0.03631024 -0.05732703
+v 0.00398102 -0.03712233 -0.05732704
+v 0.00504853 -0.03883619 -0.04454009
+v 0.00515425 -0.03701656 -0.05732704
+v 0.00540130 -0.03879585 -0.04454009
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_15.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c4079188f6ee7d0d41b520342255387b082a7b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04644182 0.00001312 0.03189773
+v 0.04897667 0.00001304 0.05479935
+v 0.04954901 0.00001312 0.03189773
+v 0.03741077 -0.02742399 0.03189763
+v 0.05224801 0.00001304 0.05479935
+v 0.03742965 -0.02742399 0.03206802
+v 0.03862517 -0.02742402 0.04033188
+v 0.04096683 -0.02742407 0.05479028
+v 0.04096828 -0.02742407 0.05479925
+v 0.04985406 0.00001312 0.03305234
+v 0.04955482 -0.00114185 0.03189773
+v 0.04108303 -0.02742399 0.03189763
+v 0.05170182 -0.00097267 0.04446167
+v 0.05169601 0.00001308 0.04446167
+v 0.05225092 -0.00097271 0.05479935
+v 0.04452869 -0.02742407 0.05479925
+v 0.05013733 0.00001311 0.03413521
+v 0.04955482 -0.00116602 0.03189773
+v 0.05013878 -0.00097264 0.03413521
+v 0.04176142 -0.02742400 0.03411941
+v 0.04543950 -0.01925597 0.03189766
+v 0.05148537 -0.00097267 0.04290575
+v 0.05148247 0.00001308 0.04291697
+v 0.05129363 -0.00406690 0.04344606
+v 0.05138079 -0.00268900 0.04318823
+v 0.05150862 -0.00730621 0.05479932
+v 0.04453741 -0.02742406 0.05272544
+v 0.04916116 -0.01838312 0.05479928
+v 0.04984825 -0.00303814 0.03413520
+v 0.04954175 -0.00125734 0.03189773
+v 0.04937615 -0.00716915 0.03466204
+v 0.04321841 -0.02500394 0.03472924
+v 0.04515478 -0.02477835 0.04336975
+v 0.04385758 -0.02742403 0.04441225
+v 0.04581864 -0.01973676 0.03398269
+v 0.04548453 -0.01917002 0.03189766
+v 0.04927301 -0.00837515 0.03503869
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+v 0.04935290 -0.01678762 0.04320612
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+v 0.04449673 -0.02742406 0.05065835
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+v 0.04700544 -0.01560038 0.03189767
+v 0.04745721 -0.01340326 0.03189768
+v 0.04722043 -0.01458777 0.03189768
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+f 55 57 58
+f 55 58 60
+f 55 60 59
+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_16.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e41b41f865e0544759b96422f35067fe0311a0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_16.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01320905 0.03532192 -0.05625777
+v -0.01404911 0.03503310 -0.05625777
+v -0.01345057 0.03818635 -0.04230214
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+v -0.01320905 0.03080976 -0.05625779
+v -0.01550662 0.03432921 -0.05625777
+v -0.01510549 0.03756295 -0.04230214
+v -0.01480832 0.03741302 -0.04357269
+v -0.01345057 0.03848779 -0.04025455
+v -0.01320905 0.03856670 -0.04025455
+v -0.01355558 0.03037259 -0.05625779
+v -0.01320905 0.03249052 -0.04436856
+v -0.01613352 0.03701373 -0.04230214
+v -0.01708279 0.03344698 -0.05625778
+v -0.01638764 0.03716996 -0.04025455
+v -0.01536066 0.03769709 -0.04025455
+v -0.01320905 0.03449644 -0.04025456
+v -0.02393666 0.02244515 -0.05625782
+v -0.01320905 0.03252367 -0.04414453
+v -0.01897818 0.03540551 -0.04230215
+v -0.02167374 0.03420289 -0.04025456
+v -0.02028868 0.03498412 -0.04025456
+v -0.01924805 0.03556806 -0.04025456
+v -0.01754903 0.03652131 -0.04025456
+v -0.02269441 0.03311550 -0.04332048
+v -0.01811082 0.03282831 -0.05625778
+v -0.01320905 0.03285352 -0.04300245
+v -0.02393666 0.02752067 -0.04025459
+v -0.02393666 0.02624074 -0.04233665
+v -0.02393666 0.02611606 -0.04254345
+v -0.02393666 0.02529696 -0.04436859
+v -0.02393666 0.02860813 -0.05625779
+v -0.02306299 0.03337116 -0.04025457
+v -0.02393666 0.03223643 -0.04245413
+v -0.02361743 0.03250631 -0.04249956
+v -0.02393666 0.03253312 -0.04098462
+v -0.02393666 0.03263098 -0.04046606
+v -0.01961663 0.03189558 -0.05625778
+v -0.02080427 0.03115224 -0.05625779
+v -0.02105419 0.03097705 -0.05625779
+v -0.02183125 0.03041363 -0.05625779
+v -0.02311865 0.02938146 -0.05625779
+v -0.02393666 0.03266885 -0.04025457
+f 1 2 3
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+f 1 12 5
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+f 25 41 42
+f 25 42 34
+f 27 30 31
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+f 33 37 43
+f 34 36 35
+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_17.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984285c8fda7b8711818fb2ebb24263a2e07a291
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_17.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03719536 -0.01429663 -0.04454000
+v 0.03701187 -0.01475046 -0.04454000
+v 0.03527608 -0.01429658 -0.05732695
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+v 0.03672775 -0.01543302 -0.04454001
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_18.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae1b9c31f08729aadcca4f97f4ed741032ae7c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_18.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_19.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003aa48e9efad26bc82be896f472c0f254852865
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_2.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24913bbba6f6416ecc76ee4fc724d0329d5e30b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_2.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_20.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6331b55c1a067f758006442f4ff349238a747e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_20.obj
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+f 1 39 41
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_21.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..892d25622f8d493aa789f5298f1a69ce1ac82da9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_21.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.04924225 0.01798856 0.05307657
+v -0.04923924 0.01798856 0.05296694
+v -0.04560453 0.01798856 0.05307657
+v -0.04919114 0.01811705 0.05307657
+v -0.04892357 0.01798859 0.04444326
+v -0.03137535 0.03180568 0.02409791
+v -0.03730392 0.03180558 0.05307662
+v -0.04074923 0.01798866 0.02379638
+v -0.01853210 0.03180592 -0.04025456
+v -0.01931376 0.03180590 -0.03606124
+v -0.04856280 0.01943978 0.05307657
+v -0.04842752 0.01968999 0.05272028
+v -0.04760377 0.02121830 0.05065560
+v -0.04709870 0.02225161 0.05065560
+v -0.04632005 0.02382184 0.05065561
+v -0.04555643 0.02534880 0.05065561
+v -0.04503332 0.02638075 0.05065562
+v -0.04421859 0.02795234 0.05065562
+v -0.04789238 0.01989019 0.04434276
+v -0.04735424 0.02071115 0.04357536
+v -0.03507018 0.01873412 -0.04025461
+v -0.03542794 0.01798890 -0.04025461
+v -0.04169925 0.03180558 0.05307662
+v -0.04043055 0.01798867 0.02184132
+v -0.03641704 0.01798877 -0.00514579
+v -0.03616751 0.01798878 -0.00683591
+v -0.03249372 0.01798887 -0.03196846
+v -0.03222014 0.01798887 -0.03391438
+v -0.03192551 0.01798888 -0.03609783
+v -0.03139339 0.01798890 -0.04006276
+v -0.03136933 0.01798890 -0.04025461
+v -0.02488157 0.03180592 -0.04025456
+v -0.04009685 0.01798868 0.01966700
+v -0.04429375 0.02795234 0.05307660
+v -0.04429375 0.02795234 0.05272031
+v -0.04346399 0.02930078 0.05065563
+v -0.04308819 0.02869895 0.04446157
+v -0.04365940 0.02766700 0.04446156
+v -0.04351810 0.02938057 0.05272032
+v -0.03338661 0.02181509 -0.04025460
+v -0.03415324 0.02042338 -0.04025460
+v -0.03461321 0.01958754 -0.04025461
+v -0.04174133 0.03175419 0.05307662
+v -0.04169323 0.03180558 0.05272033
+v -0.02519424 0.03151108 -0.04025456
+v -0.02519724 0.03151379 -0.04022715
+v -0.02528443 0.03180591 -0.03816247
+v -0.04352111 0.02938598 0.05307661
+v -0.04271540 0.03033408 0.05065563
+v -0.04215922 0.03001898 0.04446157
+v -0.03304689 0.02494472 -0.03135634
+v -0.03292664 0.02477431 -0.03273584
+v -0.04276350 0.03041387 0.05272032
+v -0.04289579 0.03024346 0.05307661
+v -0.03320924 0.02212887 -0.04025460
+v -0.04191570 0.03152832 0.05307662
+v -0.04173532 0.03175148 0.05272033
+v -0.04169023 0.03180558 0.05261070
+v -0.02923781 0.02732378 -0.04025458
+v -0.02545880 0.03180591 -0.03723975
+v -0.04081838 0.03180561 0.04446158
+v -0.04160304 0.03180558 0.05065564
+v -0.04156997 0.03180558 0.05039070
+v -0.04129639 0.03118076 0.04446157
+v -0.04122123 0.03108203 0.04337441
+v -0.03121901 0.02519767 -0.04025459
+v -0.03221713 0.02374780 -0.04025459
+v -0.03228928 0.02364095 -0.04025459
+v -0.03252679 0.02326496 -0.04025459
+v -0.03290559 0.02266445 -0.04025460
+v -0.04276651 0.03041793 0.05307661
+v -0.02924683 0.02731431 -0.04025458
+v -0.04094164 0.03180560 0.04542997
+v -0.03027501 0.02623097 -0.04025458
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+f 61 74 66
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_22.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9aeaca6813788115575f2ee097e2a310649abda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_22.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01458566 0.03233113 -0.04455013
+v 0.01458566 0.03037224 -0.05650987
+v 0.01458566 0.03703744 -0.04455011
+v 0.00039124 0.03546061 -0.04455012
+v 0.01393540 0.03060560 -0.05651455
+v 0.01458566 0.03237488 -0.05651454
+v 0.00039124 0.03354448 -0.05651454
+v 0.01458566 0.03519848 -0.05651453
+v 0.01311008 0.03768732 -0.04455011
+v 0.00039124 0.03986382 -0.04455010
+v 0.00039124 0.03800998 -0.05651452
+v 0.01445644 0.03525147 -0.05651453
+v 0.01429249 0.03531841 -0.05651453
+v 0.01326987 0.03573214 -0.05651453
+v 0.01109958 0.03834185 -0.04455011
+v 0.00088449 0.03986940 -0.04455010
+v 0.00093868 0.03801464 -0.05651452
+v 0.01121351 0.03639318 -0.05651453
+v 0.01095091 0.03645361 -0.05651453
+v 0.00914465 0.03686363 -0.05651452
+v 0.00894318 0.03690825 -0.05651452
+v 0.00762461 0.03718996 -0.05651452
+v 0.00672287 0.03737591 -0.05651452
+v 0.00710497 0.03913491 -0.04455011
+v 0.00504861 0.03940918 -0.04455011
+v 0.00504861 0.03760555 -0.05651452
+v 0.00299364 0.03781288 -0.05651452
+v 0.00646166 0.03741682 -0.05651452
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+f 24 28 26
+f 24 26 25
+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_23.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bd3e03c53009835e390d64e1f4dbe862c2b349
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_23.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04719712 0.02296180 0.05669277
+v 0.04581674 0.02590891 0.05669279
+v 0.04352880 0.02296180 0.05669277
+v 0.04670844 0.02296182 0.05065751
+v 0.04389214 0.03000257 0.05669280
+v 0.03098954 0.03846706 0.05669283
+v 0.04108061 0.02296186 0.04033117
+v 0.04616898 0.02296185 0.04439432
+v 0.04386358 0.03005641 0.05669280
+v 0.04511703 0.02483819 0.04356188
+v 0.03098954 0.04333040 0.05669285
+v 0.03098954 0.03276636 0.02536693
+v 0.03098954 0.03248521 0.02380113
+v 0.03881805 0.02296192 0.02469300
+v 0.03465469 0.02296214 -0.03654162
+v 0.04235627 0.03234551 0.05669281
+v 0.04300521 0.02887203 0.04445381
+v 0.03200658 0.04266640 0.05669285
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+v 0.03860544 0.02296192 0.02320648
+v 0.03098954 0.02822813 -0.00098410
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+v 0.03098954 0.02641974 -0.04240839
+v 0.03098954 0.02506981 -0.04454899
+v 0.03098954 0.02554837 -0.04408321
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+f 1 11 6
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+f 42 50 43
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+f 44 46 45
+f 47 51 48
+f 48 51 52
+f 48 52 49
+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_24.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c53b56eaeb9787eddc1251c43bee2d41c5a030
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_24.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03759367 0.01348875 -0.04455020
+v 0.03577264 0.01348880 -0.05651461
+v 0.03758327 0.01352486 -0.04455020
+v 0.03320553 0.01348875 -0.04455020
+v 0.03577134 0.01349281 -0.05651461
+v 0.03133901 0.01348880 -0.05651461
+v 0.03670850 0.01555807 -0.04455019
+v 0.03568166 0.01370345 -0.05651461
+v 0.03510584 0.01505257 -0.05651460
+v 0.02662462 0.02373503 -0.04455016
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+v 0.03585323 0.01734954 -0.04455019
+v 0.03504605 0.01517695 -0.05651460
+v 0.03209550 0.02373503 -0.04455016
+v 0.03001321 0.02373508 -0.05651457
+v 0.03576484 0.01752407 -0.04455019
+v 0.03460542 0.01608573 -0.05651460
+v 0.03452613 0.01624722 -0.05651460
+v 0.03384373 0.01762443 -0.05651460
+v 0.03363836 0.02151927 -0.04455017
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+v 0.03375145 0.02131364 -0.04455017
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+v 0.03299106 0.01926845 -0.05651459
+v 0.03247764 0.02017722 -0.05651459
+v 0.03236716 0.02034674 -0.05651459
+v 0.03134941 0.02190449 -0.05651458
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+f 20 28 29
+f 20 29 21
+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_25.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c4248c9dbd60ade82228e143d8f31a90f4b0e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_25.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_26.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085c1c3bf24da86a23c175d2d6afad82d900cba9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_26.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_27.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385fe78686cca49521d59291dd748cfcdd9289da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_27.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_28.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d476eb645bcbea03c66c7c6b8922eaff816615
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_28.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_29.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae86f42fd84a0942934a003c99aecc44c2956379
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_29.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_3.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5902723fe8c9297363228c83f7c9393f85c5bc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_30.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4607c0b9bb4a8a2b58a79cf8ef3343299ba66eff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_30.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_31.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b06bacf5c59e1db2ea2085e74471d22be5b135a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_31.obj
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_32.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778ab9847a76215512eb2385a39f94000824fd48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_32.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+v -0.02263917 -0.04346546 0.05308197
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_33.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fef738c2c6eef8a14a3c54602c8b6ddf2b1333f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_33.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02367532 -0.02255611 -0.05634042
+v -0.02367532 -0.02517256 -0.04455399
+v -0.01297241 -0.03237534 -0.04455402
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_34.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f315af447e6aae0a6ba85f62de836dc6eb32d89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_34.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03258989 0.00001345 -0.05732690
+v 0.03610890 0.00001340 -0.04453995
+v 0.03820887 0.00001345 -0.05732690
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_35.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3500bd8dd7ec3bd7bec565b08b8a1973ae99cd28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_35.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.01780028 -0.03039691 -0.04454006
+v 0.01780028 -0.03523802 -0.04454008
+v 0.01780028 -0.03041346 -0.04435553
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+v 0.01780028 -0.04621539 0.03086616
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_36.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf8608692926b4a0943fb525760ff46ac7d9e53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_36.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_37.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1bfe2f6489fe5f2c0a0f492c7c4214639158bc6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_37.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_38.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58784d9d583855c381b9bc475aa9da3bebb57ca4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_38.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_39.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe1102c788bc82d71344ff90309bb5dedda26c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_4.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52455c5590671225dc1bab2a82088ba809436bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_40.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bacc922ac0226009a5d7669abb8705a0a891aec3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_41.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29eba237ac85302092c860050d83c272d4f897d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_41.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_42.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d17dd99e64afab9c6e76f52ab57b9944e9522b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_42.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_43.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70cdd529d94c1793669db5767f823880e5c6f7af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_43.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_44.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6451fa31de8240f9cf4b49e12f1db184244c56b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_44.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_45.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7803955b9bcf8b5470b1aa3f3bd7bf92e6a5a03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_45.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_46.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5c37988bdde7f1ba85aeb78f2295ef666cd628
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_46.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.04111940 -0.02742676 0.05617031
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_47.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8509f9fcdfea253143d6a88087347b581846d3c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_47.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_48.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f92a63d2e97bc65de5a0966c03d40c082db02bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_48.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_49.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c0e8a2331bb1c44679f45be9375c364aa323fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_49.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_5.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e854a4f2e7acda5be0879df7333a2ca197424c2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_5.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_50.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970d19978dea6e33e1a4a4346ca394fb43cc324d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_50.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_51.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21c8ba386909c8e7442f3d468efb0d9dd5252c79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_51.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_52.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f060f8ad5b7c280e049a8b819c9320bfcc155d18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_52.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_53.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a265d0c0cee37cf107945c633fcca7d30818a70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_6.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c338fbf527b32bb4e7b6c63e496d72b04318ca0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_6.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_7.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0014e5587e5c3fb59e5330ed18798d3f8b245df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_8.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2d8cba0c7313154c92482463bdd8e1ff904375
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_8.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_9.obj b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..876552d3e712584f3affebb8d76a0364047b6d05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/mjcf/mesh/purple_cup_collision_9.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/textures/material_0.png b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9514a6d7ef317bc446be43b69eee25e7926952
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1576124
diff --git a/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/video.mp4 b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38724aade973e3a03eb3861010aa3cbf7db0e76b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/video.mp4
@@ -0,0 +1,3 @@
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