diff --git a/.gitattributes b/.gitattributes
index 06cc39287792f7810ab9e4030cea8723458ea05f..046f3534b1a71ad2fb58158d8858fa726a9e30f2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4878,5 +4878,6 @@ dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/baby_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/mesh/baby_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.urdf b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..18bd814f92c17669fa8d770eb2640de3b21b8154
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_cup">
+   <link name="red_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_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/red_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.170536</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>glossy red cup with a curved handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120015645</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.58142614364624</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/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.usd b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4c61ba3ab76d3d16a885660772a66f8718637159
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3185957983bcc7c8b4f85652cc9250d3004591c5f8b154ec2cd895681246b6bb
+size 784175
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/material.mtl b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/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/fbaeac7589ea58af9bac3abad0301c3c/mesh/material_0.png b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..462a8e946b2818c282a72263ed27763280163d87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a11c205f4dac8bc4e91c9b36650ae007426d75aa319e08bdb8e17a9165c31502
+size 1383131
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cce86a37a15aa4d81a86c0de0995bcaa3b52ac18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eff3195c79b5bc6279bf2942930305a6459242db217396c74d289101d21f472
+size 1909344
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38899bae035e4300cf726df8e7b7666fcf867752
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.obj
@@ -0,0 +1,48038 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9381765d0cd40bd33d8462ae8df6d9b9350dc634
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_gs.ply b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..448e1513170ae3ce424b7a103a279ceadcbbc4af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/fbaeac7589ea58af9bac3abad0301c3c.xml b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/fbaeac7589ea58af9bac3abad0301c3c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db005c49655d3ca3f44328f8f61383be5b756ce7
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486f4957f25f5123b83697046b13f28049b90509
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a95c896b99d558208553bb6e42ffa3fee50b3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,23130 @@
+# https://github.com/mikedh/trimesh
+
+o red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8638e2c07892d540f7ff59bf7a8daf5bb5d901
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..469d8e83bfb78024b9f76588b9dffe1d5ab37941
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a203ec6b0fc67947e43fdad491d311f254cc5bf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465ebf14a2a0e771c6441f3a809d297b762e2d13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a584376465f58dbcda5644f3455788631d34a2a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6f1b3f2ef842264d37df6d154975dec0cc68d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb28331e94c2c7cd97443d3cd6cfa0897571202
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_14.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2806907bf1005ad3b77e184bd550594becb3256b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,1219 @@
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1237bacb41eaa9a51c118e611f61fd35459d028f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5187e25e6e1685c928581df80934b1a001aa8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d70eb3eb478978a1d5eddfb860c6d2c4fa9c31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3673126f82b41901b4a12a8b70c0bb43f1de38ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01709a76bf440e1ecddc39478d661ff16dcdf61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,1207 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90d2f09d66c0b1aff438a117dcf0ac7563107c24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_21.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8bb23d01f2c30e72efc6ee822e8993a78ee9fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02937656 -0.03318879 -0.05294580
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+v -0.03857986 -0.03318879 -0.05294580
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+v -0.03908771 -0.03318879 -0.05151850
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed4d747c3749e634e3ab1b432a3ba6762f46865
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_23.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
+v 0.02018474 -0.05406451 -0.03215391
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+v 0.03094687 -0.05406451 -0.03215391
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb21def6b20fe677491e9d40eeb9ddbe5e03145
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d21cf78faf582fa6d61bef6d61990485918c5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_25.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2f3a95654a297842beac257317cda36318aa51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_26.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00628161 0.03587018 -0.05295807
+v 0.00628161 0.03664957 -0.05036150
+v 0.00652365 0.03663841 -0.05031791
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3943c3c5420238c6b6b5ebc8f3771266a80f6d79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_27.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00628161 0.03389619 -0.03811529
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf22aee64bd2a9bdaa2b72b97e3b840308c33fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0632ac7bfa889830ec3bece12c2512f5376a47fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0935af8b36d9f154e33edf57d54442cd23e7bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..828d685f1a320a74d72a8f0dcdd66b4e057d9674
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66630db94023775c9df6a28f58e82b4051df8d34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,853 @@
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa5c0b3bba183f0b62f9e298786c92905b822c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca4cc9a2e085b600cd81b351e57fa68f71705e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79456950c68b5d6669f494cca9f620acd2494a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee33897e889ef43e81142f6983a1e81f89c9a1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcfd1ddfd6ddf27f8b1b4f92460993cdd5ca5648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4feb8916d3b45eced9571367357fe81b73a7e4dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01775225 -0.05406451 -0.03599164
+v 0.01775225 -0.05406445 -0.05295005
+v 0.01775225 -0.04635007 -0.05294836
+v 0.00061090 -0.05102657 -0.05295004
+v 0.00061090 -0.05406446 -0.04860753
+v 0.01775225 -0.05306240 -0.05295004
+v 0.00061090 -0.05406445 -0.05295005
+v 0.01549381 -0.04751447 -0.05295002
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+f 1 5 7
+f 1 7 2
+f 2 7 4
+f 2 4 8
+f 2 8 6
+f 3 6 8
+f 3 8 4
+f 4 7 5
+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63fc90ea3b45f67b1d777d8d5cb4aa900e94cab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fa6feef5cb067c35b92a016ebde4ebb6615a59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_39.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b53e0f961d3089eec700bb18406a9f98fa1550b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,973 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d458c7f56db6809c886b55c8707a1de3831a1f70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_40.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a58d0abb408a30857fb931dfa4e76a4848f4385
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00933174 0.04629155 -0.02074372
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+
diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5d49af991960e69908bee1a336bcd5e460a421
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00933174 0.05873247 0.03785005
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2079ce9fc23857e6f39dfbaacfbea969e85a1aba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de017b3eb29e611c967bbdb80e1d04b7bf0a84a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_6.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77a9749e499c31a10a8ddd2e501f790c654989f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..debd714ed47d608140e00ed43a3be1b5d6fd86f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a734b96a6e31f9cdac7b3c0c9b37f1ab9b3386
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mjcf/mesh/red_cup_collision_9.obj
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