diff --git a/.gitattributes b/.gitattributes
index e1352febd67cdeb8599a7bcce1540b7ee09d85d3..b241e92763d2285d79de82f91ea468a571b22ccb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4878,4 +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/livingroom_supplies/ornaments/00226d8711595f4b91903dfd16c4d894/00226d8711595f4b91903dfd16c4d894.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.urdf b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..50d21d432a4e4d61127f6443bea21699f5c767cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>cylindrical red cup with white rim, smooth surface</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>20260120012920</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7524027824401855</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/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.usd b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.usd
new file mode 100644
index 0000000000000000000000000000000000000000..efb9c0ec8d70004ed8031f4dbacdd3306acdf4b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3a9b804bb00093c4b38cc2b56cbd343023a7aa54a6cf667f13fbddcafa29f9
+size 888234
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/material.mtl b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/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/f899fa42214a5975803ccdaf05e23e38/mesh/material_0.png b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d0c08b830fdd23a901953e082dea014a9505f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20bf0e21216a5479c91e1d207815e5b0fdccd0db9aec575f438695552f79df55
+size 1096783
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.glb b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..44aed967bdfc915297bfc30b506770dc9fae8538
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d2430c84b589be77d43f52dc6b281e298881ed26cbaf943bd160d314c23bf5
+size 1693632
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ec10ee1ca49f48f8a44e470cb5966d045c56cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.obj
@@ -0,0 +1,54476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d457dab13bbbb2de176e84976346bff21dd86a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/f899fa42214a5975803ccdaf05e23e38.xml b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/f899fa42214a5975803ccdaf05e23e38.xml
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup.obj
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index 0000000000000000000000000000000000000000..95e9705e95fdda286a0c463de751406772e2161d
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+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup.obj
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f51fd355ec4847150dcb97e3f2913aeaebfd40d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision.obj
@@ -0,0 +1,15307 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_0.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20fba85892552fb9cee24419cd20af4897a953c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_1.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbe1d3c26bba92ab1743c242b1861de7f657810
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_1.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_10.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c530bfce276d6c0c4036de03712d59c8f8b7ea99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_10.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_11.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad641a93a37de437f0d8b0ff8bf011963754a54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_11.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_12.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f85d9b0c5875c61b98ae58fe0f171bdededb7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_12.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_13.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6551c8754212d458c339458cbf14aea2e092fa5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_13.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_14.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4affb8e7f5193b1b60797daeda509a0cf6c2a2a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_15.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0f5b3e88d89b4f0863e2affc56b6242a7f3c0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_15.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_16.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd49256724815896b2219fe98ed6f7b62f0d5447
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_16.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_17.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b473a3f776b56500f8cb4f1211287f310078d5d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_17.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_18.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d088379b1328cbd99c631093fa3fe377a04945f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_18.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_19.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03562c8783ad3de1c5c6162ff96f9273eacab5fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_19.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_2.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d533b7977e3ffad8747e932ba59e9f872b7acbfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_2.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_20.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7090887d27be766d4a73d5318ea9d1a7db979013
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_20.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_21.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1317926362b8ee997e7f9a54eaeba0fa538638a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_21.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_22.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa7aa582d1edcdda848e86462616b3b3f56f1b0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_23.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797b052dcee96cc6dc4bcb315cc01ebc3106c607
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_24.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87736a6ee455cf67bf4a6737fad70a49378603fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_24.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.03563026 0.01712298 0.05257595
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_25.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66f88c8902a7e2579ab7acaaa2b50e1353cc35b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_25.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_26.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7af294a4e835b82c6ab788b5118e635588abf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_26.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_27.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d261850cf7280136f7a6d9572ba415b106674c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_27.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_28.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bd7b55b52e79e2124b1be05b142a43d20cf314
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_28.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_29.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d989502601bca9f641530dbb7aded0e096cac07c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_29.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_3.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333b801a5c5083c8a55d8ba38dc772fcd0abf9c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_3.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_30.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0fce079d57b486ddf1ccebef6b88855c30448ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_30.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_31.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb8403f866ef46f7d1d4e956f5eaa98d268b2b5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_31.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02032701 -0.01513192 -0.05788580
+v -0.02133709 -0.01513192 -0.05788205
+v -0.02369110 -0.01513190 -0.06230053
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+v -0.02076036 -0.01365182 -0.05788204
+v -0.02064480 -0.01460363 -0.05788204
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+v -0.02841946 -0.01359870 -0.05788204
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_32.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f242ca49ebd1b32a6e7912fcf72a9c5e9e9482
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_32.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03039109 -0.00001167 -0.05776901
+v 0.03038876 -0.00108514 -0.05776901
+v 0.02999840 -0.00104155 -0.06085297
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_33.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f049de1c7f07c082395ad0a2e6c334a82d31e82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_33.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v -0.02467466 -0.04287315 0.05879224
+v -0.02560750 -0.04225913 0.05879224
+v -0.02689897 -0.04125654 0.05735588
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_34.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f05e2816c9860a335794079d19be62378f90bb9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_34.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_35.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d137d7897848d2ad79929f7f63c29303de4da7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_35.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_36.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba358c7e55006f8b640a12e82ecb78747215bcc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_36.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_37.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d9a0d09b04cd92e72406a23404cd7dc1bae3bbe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_37.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_38.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8b5f10d23f3f686831d7561f1435f25ad91536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_39.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6539d7c374f4e3026ac079990132331d7542c8ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_39.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_4.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dcee6e348390bfe3d90933002f6640f45509d0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_4.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_40.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3505ca68bb48b262b9f531f83dbc20797f4015
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_41.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf7bc72c8898c190329a011c21d92806c78ed1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_41.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_42.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a21b43b50ecf7be4550b8bbabc88feb2ca1305
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_42.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_43.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..259a1a74f806675abf3313687bed9fbdb38293bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_43.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_44.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2612c69e30e8d3a56ce2384646b85228ce2b630
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_44.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_45.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9caae3eaa09fb20cca4cf09c4dd676172837769
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_45.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_46.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7c20a47ab7d47cf642d4579b74d4073c18dae5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_46.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_47.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e232df28bf4d6860b99c1793f2f42be32e42e7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_47.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_48.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139cc58d388d2027d947fa46d65645a69568ac62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_48.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_49.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ac3eb74bd4c02784b4501006873379c4c33abe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_49.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_5.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb88ade10f58679af71728d90722f5df4e428beb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_5.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_50.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e868199667113cb3bbd6425071926b0da0b3d09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_50.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02024412 0.02471657 -0.05774177
+v -0.02105958 0.02401108 -0.05774177
+v -0.00716434 0.02471657 -0.05774177
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_51.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc64b5ad03e24ef7cd11a5d0baeba1c7e5eda88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02764887 -0.01513268 -0.05788204
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+
diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_52.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c32ef7fc47d25ca4e963c423be0042d9ef6920
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_52.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02030691 0.01460813 -0.05774181
+v -0.02066868 0.01332771 -0.05774181
+v -0.02801153 -0.00005640 -0.06237996
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_6.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6645a5b9271dfa7aae6858cb33b9c3be38a0c6e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_6.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_7.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efb9f9883476dec5ceec4e091fafde8b698d3c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_7.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_8.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..931bacedbf3814396003e54ed62e8f7210027b96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_8.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_9.obj b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a8579c99ee39564468d0ce2cc2385f9dd1ba7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mjcf/mesh/red_cup_collision_9.obj
@@ -0,0 +1,328 @@
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