diff --git a/.gitattributes b/.gitattributes
index 32b0da1f60c9fbfa9b1a7c7766bcba271b55f6a5..b1e3b02d32b33cbb58c0f1fdcfcd9b8c64ee09a0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4875,3 +4875,4 @@ dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/baby_bottle_006.u
 dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mesh/baby_bottle_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mesh/baby_bottle_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mjcf/mesh/baby_bottle_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.urdf b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62608ffc9ef80292c5e1122e518923e28ff6946b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="teacup">
+   <link name="teacup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup.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/teacup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.143678</scale>
+         <version>v0.1.5</version>
+         <category>cup</category>
+         <description>floral-patterned teacup with curved handle and slightly flared base</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251005023212</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.812817215919495</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/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9c2f647cf8d92b31aa222fcd97d41a7309da6cd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7eb6f4a96951b4dc1da62a9ae10c062ccf70ac34707725b52d2496b3ddff311
+size 608615
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/material.mtl b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/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/f81518dee2935bfabfcaa74b1459819d/mesh/material_0.png b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d196292de339fddafb5c67cf5d24db29287789b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a987ba3f3b4675da24098144c584ffd357ff5660d78d4c124e9ce5a80b66501e
+size 1300587
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup.glb b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6a1a0d97ed88190b9ae2b504cd40d1ea99042348
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92fafd1b6dde6dd526494516cbfbf49596b8b2aad9a145e8d899fcb1f3af8fa
+size 1713664
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cae87173e3c9a6d4cd6278f543455957113c224
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup.obj
@@ -0,0 +1,37726 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup_collision.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2ea27b3a9a69e724094e013cebae33f455a3cab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mesh/teacup_collision.obj
@@ -0,0 +1,33303 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d196292de339fddafb5c67cf5d24db29287789b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1300587
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062a18a7c507a3363eabaf1245890dea1ce581e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624e4352f3ae2347b2b454c78d9fd8c66f17a527
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision.obj
@@ -0,0 +1,33303 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_0.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde4840e5a1b22c941b68364e0946183f8e26465
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_1.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0226540dc5dab3e394ff8bf9448f342644fa5343
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_10.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4207e605ec129aeb8ef1b60f003a7ac0ff8f3621
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_11.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97dde7fd9369da80a34545e7bd843ecae3484236
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_12.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264800cc0fbbd21b12853190ce2859e8c01e5398
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_12.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_13.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0291ddcd30b30f1561064489c5e0d941aeafa4f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_13.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_14.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f242192fcf19cc3ebf62e926413fc8f51c6fb196
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_15.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b651633267f7fc4001aa95da6004ab59139dbe2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_16.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc76a3a77ee810e4eb3dfaa9a45146cb31aaf9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_17.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e00213c25ac4a48cd304b7e4719d41469be39320
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_18.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a03881a8e89e13df166d2088d5bbf34a18aba33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_18.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_19.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6e071c6b45e7ded0e3841d5cfb9cfc9620fcc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_19.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_2.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067c5c948626c3d8c57a7ac2a388d4b8831a5dac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_2.obj
@@ -0,0 +1,1258 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_20.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c06cf6e74987baed10090eb1c8124d637f254c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_21.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7464e57c8a2beb0cc9821dfa781ceb3a400a03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.04387250 -0.00256611 -0.01876409
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+f 5 8 7
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_22.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e21ec594e5cfa49c180f170dc74b407d24a93f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_22.obj
@@ -0,0 +1,1120 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_23.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d96784fdfd1c4e841666a58661f1fefeca73a33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_24.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f30dd4b977c429de84dc47294b48f0a3af6175
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_24.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_25.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29086c71bb5f07c08f112083646c6dd4cf81e078
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_25.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_26.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6916366997b976b4186db7ead61cbaa146fd80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_26.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_27.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9717f4de142abbe5b4f699a60e98e209b2a6f8fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_27.obj
@@ -0,0 +1,1030 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_28.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d011c939ebf3aa42ed152fb822b15fbde443282
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_28.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_29.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b298caf2f7a4ecf5519e6b35ff033428515b00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_29.obj
@@ -0,0 +1,955 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_3.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e3e8444bb15b9bde3ab23d447dc54cfa54b8306
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_30.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49e2c70788006201b097c7d41c28c51a0d4e41d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_31.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3938cf94b65fa0cb484d543c0cb959610419036d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_31.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_32.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a91f3488fabc5261fa5e5427dfe61815000410
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_32.obj
@@ -0,0 +1,1105 @@
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_33.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f030c65be6fc7dd6d5216fdcd9f96771e835c050
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_34.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a40f7db39fa9d17c4a9b02430979c068a3442c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_35.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3a7e01194b144413003034ce52a32cb729b69a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_36.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48680d7d4fb6a223ee3746a86f872e4ada31062d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_36.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_37.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070e3c7e2f901a87a5e58e2ed0b70591c1b705ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_38.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d112863871624f6cacb794161a2185c1974997b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_38.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_39.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3baacbc58f7100c205528acda6318303e2cb3790
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_39.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_4.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d02b79a5b0b17cfb9a451cf13253a810cb4cdd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_40.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c3436b6c13c5ffa163c3a99d43f650e82ec51a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_40.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01489895 0.02675048 -0.04009176
+v 0.01518828 0.02667815 -0.04009176
+v 0.01489895 0.02477269 -0.04009177
+v 0.01489895 0.03356808 -0.03360967
+v 0.01533564 0.03356808 -0.03354570
+v 0.01775091 0.03356808 -0.03307051
+v 0.02006374 0.03356808 -0.03257704
+v 0.02246463 0.03356808 -0.03204398
+v 0.01535181 0.02662993 -0.04009176
+v 0.02282045 0.03356808 -0.03196173
+v 0.02004038 0.02477269 -0.04009177
+v 0.01489895 0.02477264 -0.02588482
+v 0.01489895 0.03356804 -0.02139485
+v 0.01664391 0.02618737 -0.04009176
+v 0.02370641 0.03356808 -0.03172719
+v 0.01922271 0.02513863 -0.04009177
+v 0.02528245 0.03356807 -0.03121240
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+v 0.02721430 0.03356807 -0.03046915
+v 0.02721430 0.03250728 -0.03126418
+v 0.02900778 0.03356807 -0.02970154
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+v 0.03011478 0.03039346 -0.03148046
+v 0.03277085 0.02816598 -0.03157186
+v 0.03325606 0.02731614 -0.03179727
+v 0.03325606 0.02676853 -0.03206837
+v 0.03325606 0.02488460 -0.03286645
+v 0.03325606 0.02477266 -0.03291214
+v 0.03325606 0.02477261 -0.01963729
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+v 0.01775630 0.02577579 -0.04009177
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+f 1 2 9
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+f 1 3 12
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+f 1 13 4
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+f 1 5 6
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+f 1 8 2
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+f 33 41 34
+f 34 41 40
+f 34 40 42
+f 34 42 35
+f 35 42 43
+f 35 43 37
+f 35 37 36
+f 40 43 42
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_41.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9b8f0f0e089ac2a85e1a8fa4e2790137c49f9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_41.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.01893247 0.02100544 -0.02266790
+v -0.02640702 0.02100544 -0.02266790
+v -0.02640702 0.02100542 -0.01547371
+v -0.02637409 -0.00256610 -0.02266799
+v -0.02640702 -0.00256610 -0.02266799
+v -0.02640702 -0.00256610 -0.02264757
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 4
+f 4 6 5
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_42.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae97d8367ef4f4828e89f248d4e544ff5f5776
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_42.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.02939816 -0.03162028 -0.01587636
+v 0.04035525 -0.02024032 -0.01587631
+v 0.04387207 -0.03162028 -0.01587636
+v 0.04387207 -0.03162036 0.00576317
+v 0.04387207 -0.02024034 -0.01036264
+v 0.04387207 -0.02024032 -0.01587631
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 6 5
+f 3 5 4
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_43.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bebc167536e93c46771fe0115904ff0160a89bfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_43.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_44.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6f63d57b3c2bc3a610ab91dabbe147e8980cf0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_44.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_45.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d1160e30145798c6b7e0f48f6c48b25ef506ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_45.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v 0.00582916 0.03356809 -0.03422652
+v -0.00018354 0.03356808 -0.03370982
+v 0.00066143 0.03356808 -0.03381837
+v 0.00169737 0.03356808 -0.03392909
+v 0.00345416 0.03356809 -0.03408758
+v 0.00808960 0.03356809 -0.03423521
+v 0.00820656 0.03356809 -0.03423521
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 24
+f 1 24 23
+f 1 23 22
+f 1 22 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 28
+f 1 28 35
+f 1 35 34
+f 1 34 40
+f 1 40 47
+f 1 47 46
+f 1 46 41
+f 1 41 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 38
+f 1 38 37
+f 1 37 32
+f 1 32 31
+f 1 31 29
+f 1 29 25
+f 1 25 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 12
+f 3 12 9
+f 3 9 4
+f 4 9 16
+f 4 16 10
+f 4 10 5
+f 6 7 12
+f 6 12 11
+f 7 13 14
+f 7 14 12
+f 8 15 12
+f 9 12 14
+f 9 14 26
+f 9 26 30
+f 9 30 36
+f 9 36 39
+f 9 39 33
+f 9 33 27
+f 9 27 19
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 12 21
+f 12 15 22
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 13 25 14
+f 14 25 26
+f 19 27 20
+f 20 27 28
+f 25 29 26
+f 26 29 31
+f 26 31 32
+f 26 32 30
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 30 32 37
+f 30 37 38
+f 30 38 36
+f 33 39 34
+f 34 39 40
+f 36 41 39
+f 36 38 42
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 41
+f 39 41 46
+f 39 46 47
+f 39 47 40
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_46.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cec4d1ea9cc88ba8aa8c8b35c5551af829b416d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_46.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03383401 -0.02024030 -0.02266749
+v 0.03384179 -0.02024030 -0.02266882
+v 0.01737393 -0.03162026 -0.02266887
+v 0.04035578 -0.02024032 -0.01587632
+v 0.04387089 -0.02024030 -0.02266882
+v 0.02940055 -0.03162028 -0.01587637
+v 0.04148424 -0.03162026 -0.02266887
+v 0.04387089 -0.02024032 -0.01587632
+v 0.04387089 -0.02889197 -0.02266886
+v 0.04387089 -0.03162028 -0.01587637
+v 0.04184743 -0.03126154 -0.02266886
+v 0.04260752 -0.03087162 -0.02228452
+v 0.04220283 -0.03162026 -0.02191016
+v 0.04387089 -0.02892205 -0.02264359
+v 0.04382419 -0.02894990 -0.02266886
+v 0.04387089 -0.03162027 -0.01987207
+v 0.04188894 -0.03121809 -0.02266886
+v 0.04318084 -0.03162026 -0.02074981
+v 0.04239221 -0.03067444 -0.02266886
+v 0.04387089 -0.03008845 -0.02151982
+v 0.04387089 -0.03122367 -0.02031891
+v 0.04324310 -0.03158461 -0.02071524
+v 0.04328201 -0.03162026 -0.02062547
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 15
+f 2 15 19
+f 2 19 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 6 4
+f 3 7 13
+f 3 13 18
+f 3 18 23
+f 3 23 16
+f 3 16 10
+f 3 10 6
+f 4 6 10
+f 4 10 8
+f 5 8 10
+f 5 10 16
+f 5 16 21
+f 5 21 20
+f 5 20 14
+f 5 14 9
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 11 17 12
+f 12 18 13
+f 12 17 19
+f 12 19 15
+f 12 15 14
+f 12 14 20
+f 12 20 21
+f 12 21 22
+f 12 22 18
+f 16 23 21
+f 18 22 23
+f 21 23 22
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_47.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74499b8f044a6f4f1728f2e50de58ce8a19ff33f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_47.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05906951 -0.03905581 0.03295788
+v -0.05660390 -0.03826981 0.03444249
+v -0.05906951 -0.03873063 0.03527247
+v -0.05906951 -0.03884991 0.03212088
+v -0.05119350 -0.03717490 0.02354753
+v -0.05097772 -0.03635949 0.03077188
+v -0.05356948 -0.03709649 0.03295788
+v -0.05170598 -0.03610294 0.03295789
+v -0.05223750 -0.03579083 0.03422039
+v -0.05096582 -0.03101591 0.03821134
+v -0.05906951 -0.03825019 0.03598322
+v -0.05096582 -0.03709809 0.02354753
+v -0.05119350 -0.03697881 0.02590187
+v -0.05119350 -0.03677128 0.02825153
+v -0.05906951 -0.03853288 0.03101970
+v -0.05127283 -0.03641502 0.02102954
+v -0.05096582 -0.03639050 0.02105526
+v -0.05096582 -0.03635295 0.03077188
+v -0.05096582 -0.03634968 0.03078357
+v -0.05096582 -0.03666669 0.02825154
+v -0.05096582 -0.03562250 0.03295789
+v -0.05096582 -0.03444757 0.03477449
+v -0.05096582 -0.02236156 0.03821137
+v -0.05153701 -0.02974619 0.03821134
+v -0.05906951 -0.03708016 0.03634560
+v -0.05096582 -0.03689220 0.02590187
+v -0.05906951 -0.03784164 0.02983434
+v -0.05270635 -0.03614048 0.02170288
+v -0.05096582 -0.03618624 0.02056194
+v -0.05412321 -0.02236156 0.03821137
+v -0.05096582 -0.02236147 0.01432895
+v -0.05331641 -0.02511180 0.03821136
+v -0.05906951 -0.03669287 0.03635029
+v -0.05405974 -0.02258381 0.03821137
+v -0.05411607 -0.02238771 0.03821137
+v -0.05906951 -0.03670102 0.02860692
+v -0.05906951 -0.03529569 0.03626144
+v -0.05755270 -0.02236154 0.03364998
+v -0.05906951 -0.02346786 0.03438409
+v -0.05906951 -0.02380449 0.03455710
+v -0.05906951 -0.02498106 0.03503638
+v -0.05906951 -0.02574093 0.03515095
+v -0.05906951 -0.02736853 0.03534966
+v -0.05906951 -0.03452272 0.02783772
+v -0.05906951 -0.03212054 0.02786812
+v -0.05502282 -0.02261643 0.02187827
+v -0.05500141 -0.02236150 0.02190867
+v -0.05779783 -0.02236154 0.03288078
+v -0.05906951 -0.02327502 0.03345358
+v -0.05906951 -0.02969223 0.02835911
+v -0.05539013 -0.02236151 0.02330678
+v -0.05906951 -0.02751558 0.02915637
+v -0.05906951 -0.02491404 0.03065970
+v -0.05906951 -0.02367702 0.03173984
+v -0.05906951 -0.02347765 0.03230329
+v -0.05906951 -0.02327502 0.03311925
+f 1 2 3
+f 1 3 11
+f 1 11 25
+f 1 25 33
+f 1 33 37
+f 1 37 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 49
+f 1 49 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 50
+f 1 50 45
+f 1 45 44
+f 1 44 36
+f 1 36 27
+f 1 27 15
+f 1 15 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 5 12
+f 2 12 13
+f 2 13 14
+f 2 14 6
+f 4 15 5
+f 5 16 17
+f 5 17 12
+f 5 15 16
+f 6 18 19
+f 6 19 8
+f 6 8 7
+f 6 14 20
+f 6 20 18
+f 8 21 9
+f 8 19 21
+f 9 22 10
+f 9 21 22
+f 10 23 30
+f 10 30 35
+f 10 35 34
+f 10 34 32
+f 10 32 24
+f 10 24 25
+f 10 25 11
+f 10 22 21
+f 10 21 19
+f 10 19 18
+f 10 18 20
+f 10 20 26
+f 10 26 12
+f 10 12 17
+f 10 17 29
+f 10 29 31
+f 10 31 23
+f 12 26 13
+f 13 26 14
+f 14 26 20
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 23 31 47
+f 23 47 51
+f 23 51 48
+f 23 48 38
+f 23 38 30
+f 24 32 25
+f 25 32 34
+f 25 34 35
+f 25 35 30
+f 25 30 33
+f 27 36 28
+f 28 36 31
+f 28 31 29
+f 30 37 33
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 37
+f 31 36 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 38 48 49
+f 38 49 39
+f 45 50 46
+f 46 50 47
+f 47 50 52
+f 47 52 53
+f 47 53 54
+f 47 54 55
+f 47 55 51
+f 48 56 49
+f 48 51 56
+f 51 55 56
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_48.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d413c418c7002c6cdb9fdd9c3443c51c3815b814
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_48.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02108001 0.02363000 -0.03906176
+v 0.02108001 0.02477268 -0.03715277
+v 0.03180423 0.02477266 -0.03348119
+v 0.03181973 0.02477266 -0.03347549
+v 0.02253184 0.02324197 -0.03906176
+v 0.02108001 -0.00256604 -0.03906186
+v 0.02108001 0.02477263 -0.02515312
+v 0.03325487 0.02477266 -0.03291268
+v 0.02474653 0.02218492 -0.03906177
+v 0.03325487 -0.00256604 -0.03906186
+v 0.02108001 -0.00256608 -0.02811748
+v 0.03325487 0.02477261 -0.01963910
+v 0.02959311 0.01776941 -0.03906178
+v 0.02721989 0.02017252 -0.03906178
+v 0.03325487 0.01133614 -0.03906181
+v 0.03234062 0.01386502 -0.03906180
+v 0.03154557 0.01532883 -0.03906179
+v 0.03325487 -0.00256609 -0.02565519
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 13
+f 1 13 17
+f 1 17 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 18
+f 6 18 11
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 8 12 18
+f 8 18 10
+f 8 10 15
+f 8 15 16
+f 8 16 17
+f 8 17 13
+f 11 18 12
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_49.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403f584bfe44aaa3721d0f7336a828d7a8215fbd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_49.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04261887 -0.03180898 -0.01181255
+v -0.04162117 -0.03158425 -0.01183086
+v -0.04261887 -0.03154819 -0.00990359
+v -0.04261887 -0.03139281 -0.01390626
+v -0.04171121 -0.03138541 -0.01423745
+v -0.04020739 -0.03108855 -0.01563879
+v -0.04017101 -0.03114682 -0.01410763
+v -0.04035427 -0.03106267 -0.01266467
+v -0.03797326 -0.02858056 -0.00906975
+v -0.04261887 -0.02974394 -0.00949250
+v -0.04261887 -0.03071586 -0.01505795
+v -0.04251837 -0.03073806 -0.01510788
+v -0.04093406 -0.03108855 -0.01563879
+v -0.03797326 -0.02899944 -0.02075987
+v -0.03797326 -0.02934347 -0.01881429
+v -0.03797326 -0.02947573 -0.01645597
+v -0.03797326 -0.02944983 -0.01513284
+v -0.03797326 -0.02236139 -0.00906973
+v -0.04161117 -0.02320295 -0.00906974
+v -0.04176896 -0.02288020 -0.00906973
+v -0.04197314 -0.02236139 -0.00906973
+v -0.04261887 -0.02236139 -0.00928277
+v -0.04261887 -0.02958208 -0.01625791
+v -0.03863218 -0.02896430 -0.02047527
+v -0.03797326 -0.02796091 -0.02188327
+v -0.03797326 -0.02236132 -0.02603736
+v -0.04261887 -0.02236134 -0.02063002
+v -0.04261887 -0.02829755 -0.01742458
+v -0.03844119 -0.02414802 -0.02512700
+v -0.03797326 -0.02433205 -0.02536333
+v -0.03797326 -0.02266835 -0.02607065
+v -0.03882044 -0.02236133 -0.02556470
+v -0.04015692 -0.02236133 -0.02388708
+v -0.04261887 -0.02246584 -0.02063502
+v -0.04261887 -0.02824576 -0.01747119
+v -0.04261887 -0.02410734 -0.02027221
+v -0.03883226 -0.02261565 -0.02558467
+v -0.03797326 -0.02352656 -0.02574612
+v -0.04002004 -0.02261565 -0.02407847
+v -0.04261887 -0.02261566 -0.02064167
+f 1 2 3
+f 1 3 10
+f 1 10 22
+f 1 22 27
+f 1 27 34
+f 1 34 40
+f 1 40 36
+f 1 36 35
+f 1 35 28
+f 1 28 23
+f 1 23 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 9 8
+f 7 16 17
+f 7 17 9
+f 9 18 21
+f 9 21 20
+f 9 20 19
+f 9 19 10
+f 9 17 16
+f 9 16 15
+f 9 15 14
+f 9 14 25
+f 9 25 30
+f 9 30 38
+f 9 38 31
+f 9 31 26
+f 9 26 18
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 14
+f 14 24 25
+f 18 26 32
+f 18 32 33
+f 18 33 27
+f 18 27 22
+f 18 22 21
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 26 31 32
+f 27 33 34
+f 28 35 29
+f 29 36 37
+f 29 37 30
+f 29 35 36
+f 30 37 38
+f 31 38 37
+f 31 37 32
+f 32 37 33
+f 33 37 39
+f 33 39 40
+f 33 40 34
+f 36 40 39
+f 36 39 37
+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_5.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c7d86147ac36db730b5f1bfcd4ebf978213c432
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_5.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
+v -0.02615388 0.03600333 0.00535649
+v -0.02615388 0.04828489 0.00535654
+v -0.00948784 0.04584247 0.00535653
+v -0.00948784 0.05330856 0.02957969
+v -0.00948784 0.05365867 0.03071197
+v -0.00948784 0.05722638 0.04220015
+v -0.00948784 0.05734308 0.04254365
+v -0.00948784 0.05774321 0.04371409
+v -0.00948784 0.05806553 0.04463433
+v -0.02615388 0.04523664 0.03054231
+v -0.02504292 0.04908513 0.00535654
+v -0.02615388 0.04896008 0.00714190
+v -0.02553886 0.04938244 0.00707404
+v -0.00948784 0.05622344 0.00535657
+v -0.00948784 0.05848787 0.04561395
+v -0.02615388 0.04977131 0.04245456
+v -0.02615388 0.04877935 0.03998645
+v -0.02615388 0.04781240 0.03748017
+v -0.02615388 0.04611467 0.03292136
+v -0.02432838 0.04959084 0.00535654
+v -0.02615388 0.04960195 0.00886788
+v -0.02398743 0.04995207 0.00568308
+v -0.02597770 0.04969364 0.00877034
+v -0.00948784 0.05700700 0.00769322
+v -0.00979291 0.05614286 0.00535657
+v -0.00948784 0.05896024 0.04656812
+v -0.02615388 0.05079385 0.04474033
+v -0.02615388 0.05024924 0.04355292
+v -0.02389281 0.04989093 0.00535654
+v -0.02615388 0.04981312 0.00946582
+v -0.02350618 0.05013545 0.00535654
+v -0.02435122 0.05018546 0.00707404
+v -0.02248331 0.05141639 0.00723096
+v -0.00980433 0.05705424 0.00808761
+v -0.00948784 0.05709592 0.00796039
+v -0.01077010 0.05588444 0.00535657
+v -0.02615388 0.05177470 0.04649600
+v -0.02615388 0.05134957 0.04577932
+v -0.00948784 0.05994109 0.04774281
+v -0.02615388 0.05005485 0.01019099
+v -0.02266439 0.05065228 0.00535655
+v -0.02513428 0.05047999 0.00950400
+v -0.02307713 0.05175539 0.00942767
+v -0.02156159 0.05228610 0.00812152
+v -0.02108849 0.05203048 0.00655244
+v -0.01067874 0.05651518 0.00720978
+v -0.01138839 0.05682361 0.00884670
+v -0.01067874 0.05724040 0.00955067
+v -0.00948784 0.05755439 0.00948706
+v -0.01314047 0.05513699 0.00535656
+v -0.02615388 0.05223595 0.04703882
+v -0.00948784 0.06059684 0.04825170
+v -0.02615388 0.05322791 0.04811173
+v -0.02615388 0.05276110 0.04765372
+v -0.02615388 0.05132468 0.01417306
+v -0.02546382 0.05176370 0.01413489
+v -0.02060234 0.05186932 0.00535655
+v -0.02030380 0.05330586 0.00942768
+v -0.02030054 0.05265011 0.00723096
+v -0.02394012 0.05229164 0.01281602
+v -0.02427455 0.05248615 0.01413489
+v -0.02268070 0.05338920 0.01413490
+v -0.02133972 0.05454788 0.01561068
+v -0.02092699 0.05433949 0.01413490
+v -0.01954685 0.05243060 0.00535655
+v -0.01214045 0.05705423 0.01041578
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_50.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b666780518f96dd33e230394cb37bc399e2f3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_50.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_51.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd69877bce667e75cf114e2fb87b71d2d7d1b79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_51.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_52.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d7c0b19cc6d2db2a37e9b33d6be9e57bbe8fe74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_52.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_53.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5ea8831d38080ed5d6651eef4cff16054d1e4e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_53.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_54.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20bb3b3aa73ed3ebec6656d7296e5dea520ddc63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_54.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_55.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b05e82d884b2309568aa9d9851c1f2f91520d3f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_55.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_56.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d440ff057aa7a215e14f1a690753d9b649ad1b81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_56.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03190435 -0.03598924 -0.00906812
+v -0.03190435 -0.03578912 -0.00940104
+v -0.03190435 -0.02236273 -0.00906807
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_57.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee08db0f419e14e0ef195fb7a254fc1f1630f59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_57.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.04456425 -0.03284351 -0.01007174
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+
diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_6.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ca175458f343016313509ad9b779d36a6aa52b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_6.obj
@@ -0,0 +1,1429 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_7.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..850c93cf0af1b03f59380a007eeeb96e6af5a37f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_8.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c681eb8efc8937487dd3fc3d3c1b920af7aeb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_9.obj b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05d5d38a55147ccc060a8980635a9f19cfa05e88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/mjcf/mesh/teacup_collision_9.obj
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