diff --git a/.gitattributes b/.gitattributes
index 043df35d115e4ea13160820728f84bd00bb398c6..81a3f8d0324564c2155b5b4109c93411a384de55 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4855,3 +4855,6 @@ dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/coffee_cup_020.us
 dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mesh/coffee_cup_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/mesh/thermos_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/thermos_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.urdf b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..394f5cdcf004d4f716d2015731a9be0e15794868
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="yellow_cup">
+   <link name="yellow_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125470</scale>
+         <version>v0.1.7</version>
+         <category>yellow cup</category>
+         <description>smooth yellow cup with a slightly tapered cylindrical shape</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>20260120141943</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.366410255432129</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.usd b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4d94c80776a7a341ce5fc884eb9acade62e603eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/ec34467ddd0a53d09cd8d2ae14bfb670.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703c5bb4da5e51f61ad9ac78581ae5b62ac1b72ef7830b97290f80321b0057f0
+size 970909
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/material.mtl b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/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/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/material_0.png b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b032970aa8459702edcef4abf342f25cf322318
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a58d8197de8781905e94a04a956ee16b0d543f3499eeef196bdde40e191fd707
+size 1125630
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.glb b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..86560f45cb5b14e65a424997f523ae91b49b8438
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a38f0ba9c23088c18b37207920935544e351be6cd85537084faaa31126480c
+size 1765756
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c514104aafe67c612907dbd755d417101b8327
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup.obj
@@ -0,0 +1,58260 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5877cf7fb1540056d32bbfad0535ad6dd64a5133
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_collision.obj
@@ -0,0 +1,53387 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_gs.ply b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7060c50c016437dd7af8560fad1e37c9e1d3cc79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mesh/yellow_cup_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6911210
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/ec34467ddd0a53d09cd8d2ae14bfb670.xml b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/ec34467ddd0a53d09cd8d2ae14bfb670.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6dafa0c6ba8ee0f66b633cd72f4d3de4c93ce2c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/ec34467ddd0a53d09cd8d2ae14bfb670.xml
@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="yellow_cup">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_0" file="mesh/yellow_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/yellow_cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/yellow_cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/yellow_cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/yellow_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/yellow_cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b032970aa8459702edcef4abf342f25cf322318
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a58d8197de8781905e94a04a956ee16b0d543f3499eeef196bdde40e191fd707
+size 1125630
diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cfe6ea120d1d6baf8ca4c921476d14c32d261d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup.obj
@@ -0,0 +1,58260 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ed7eeaf8f9e9a582c88fa763dffa5a1bbf9021
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision.obj
@@ -0,0 +1,53387 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_0.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aba4cce8e62654233b70be1c7cd84c7730529c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_1.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5b8b42cc42e83731dd123fec0fe1ae75722aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_10.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8d2b2268aad8fe0144c9172120dc89a2fdc224
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_11.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e91aa71f255bb4bd438e97865f53a364a2e3b3bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_12.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fc8350d0965dd17165c9d308bfa67cbcc53f6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_12.obj
@@ -0,0 +1,1261 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_13.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83779ec8993013d024defa139106f8f3b49d1888
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_14.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71ff1fc7144d0029dfaedea6df6c93bc0d1b340
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_15.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ddce0892ca2687676c6fa3c7fc6efbb60e9e5da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_16.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40203acedf51846a31c5adae26ea26b11ca90828
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_17.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abef11f57c2d3725bf466e75954f1d4370a669b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_18.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf2d5831ffa29eebe798d3593558dea43d8caef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_19.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6413bc2d7c189391aff694839892bdba75166910
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_2.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cdf17dda56d2fa2cb24fdff285080cb42cc05e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_20.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4397aa809ac00a1a869d27182ca7be5a030f76a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_21.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af54ca5000fb9a0b17c9ea36fd3f3b941d8f1d9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_22.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff594a35b08c6532c8d228a1efc65c8e2a2dd8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_22.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_23.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..964c5f8073df27c26aa6a1a0b0c770c4f4e2790a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_23.obj
@@ -0,0 +1,904 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_24.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1fa876e239e9023440fd028aad5021970eadd9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_25.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115e95c9a25cb75d6cded3ee8715edc5498d49fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_26.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..188ee7a6aba14c1919532299537983d25a5fcf73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_27.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce660fff7d813d439424cb08b1ed0d491235cb7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_28.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..281dab9e741b63d37b7b60287151fb2b7232448e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_29.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6236f2fbebe731e64bdbfb377230a013dee34afd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_3.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b38a85b1bbc8a56475bb0f66047b7254f012e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_30.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b648547727446da66c7f30f951cedb0bc77bc0d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_31.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9cf6349da0ee94fafdefc407ad8e9f0524d6010
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_32.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983dba53c09bdabba57d2b4e04a62bcd7eb5897e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_33.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffb5755e9821ace3961bc6b8c4a9e576aaa9f70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_34.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de93aca24e29acd80c159798896e51f84681844
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_35.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29cafd2a9a030a718952eb892fc6602d1265a70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_36.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39b7ae6375bd7398720c256035f7a46a7e37b02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_37.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5c26f52fbd3189963d2972da6d512ed2aa69a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_38.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4804114b8dd2a9b95dab55af087b97a60d9dca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_39.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba67371712e678761112fd8bc51d8ef922d87c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_4.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39431342d6b9f99cac52d3c90259cf20be74536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_40.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690d74beeb4d5b03c8f0c8d28da7ab8d94641131
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_41.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0001c35f7efeceb7ebb289ad1d892c8398e1499
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_41.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_42.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f39a68562754e2d9d04a313cf421652ab31444c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_42.obj
@@ -0,0 +1,697 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_43.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4958c085cc9b026eb41984ac9c5e2efb8050d7f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_44.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55929a4b12ca69b1fb8619227c00c420d935ecd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_45.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51d1ed5eec69993d1b462f5341d5f27b53a65e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_45.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_46.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e8da9063b7ed02a3cb9f6e49c1fe094b745da0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_46.obj
@@ -0,0 +1,961 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_47.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414621dc7c23c43740d41511a38279081d68e784
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_47.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_48.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be10e48b78e1e2f2578a4d8d304f4dff008cf07e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_48.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_49.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7a74e6d01187b7cd95247c36eaa6d8e4ae208a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_49.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_5.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da999828e59269ac79718700f78cfb47003349be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_5.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_50.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9d17a214f31639ab68e1e52d6f3d8487d596f62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_51.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce212a9fc406e4673873be7ec7cda33da320200
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_51.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_52.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd3d819a6f537b37273db216833286726c8d09a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_52.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_53.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d2425993aa955838fe061bb83b4d5b3c4be2cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_53.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_6.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97c210f83c290d75e49a1f63c9f1466f9e76405f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_7.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b0e5753cc713ccdae3060fca6e7c17136b4a5ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_8.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b8fe9379bfbd4f3f5432a5351f1b4a4392c9b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_9.obj b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079c8359919f85df79c1534af986f8d9c64904b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/mjcf/mesh/yellow_cup_collision_9.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/textures/material_0.png b/dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/textures/material_0.png
new file mode 100644
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