diff --git a/.gitattributes b/.gitattributes
index 4e0912b09eac36b7c3280174b3f774f12429a4cf..66308ea423edcd9572b147048c19b972f476de51 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4634,3 +4634,5 @@ dataset/kitchen_supplies/ware/0b544e095b4e56f0bf9dc72283fc5ba9/mesh/water_bottle
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dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.urdf b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.urdf
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index 0000000000000000000000000000000000000000..29b7067b668c2df3f0dd97440d6e8e380c89d252
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.usd b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.usd
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019_collision.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7876e1686ebad18719ccd9d3c7b8236fc7cbf365
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019_collision.obj
@@ -0,0 +1,13239 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a5997f7a6f0fbd4a1536308d61ac97352fc19b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:639533ce635d6bcffa0808c6fdc912a96a6cc3cd78692da82639a6df85d799de
+size 8328162
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material.mtl b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2193311b01da4da181971640c50aa0a4a0133341
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_019_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material_0.png b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a5997f7a6f0fbd4a1536308d61ac97352fc19b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:639533ce635d6bcffa0808c6fdc912a96a6cc3cd78692da82639a6df85d799de
+size 8328162
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/coffee_cup_019.xml b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/coffee_cup_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d3c7935f5bd4cdb3af2e4cda23bb1f5375b05f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/coffee_cup_019.xml
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e43e48dda61c69b865943a85a4919c7d7153cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019.obj
@@ -0,0 +1,104768 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9929f4a1423af829af5ef0268f4ecfd22adbe322
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision.obj
@@ -0,0 +1,13239 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_019_collision.obj
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+
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_0.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..828580af74baafd11725db5c8d3b1c846aba25fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_1.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7970e36125c0b0754bea7f6c5f316779533f6f98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_10.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b8d8a3d9cda45494f9fc7d718fe3896d79c2dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_10.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_11.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49704c0893e11c60027faf78b5956965bd38bae2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_11.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_12.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0858759a13a3d6f9cb9699f2e10fd19388fc2b80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_12.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_13.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658f95292a1f66f875604a800d7df5af9b2a250d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_13.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_14.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca09b2cdf85d0232e324af2861a3f28c1aeb3f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_15.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ceeab566b228eb97261ecf1c5b8b47a9b345bf1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_15.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_16.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef105cbf97e0a8eeaba8174241e420974e0665c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_17.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b7c59f02bc55700999886e72bcba769897b6184
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_17.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_18.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e9028e7b4bc9ccd60daba7fe75a8776d0e078d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_18.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00974341 -0.02445436 -0.00453041
+v 0.00974341 -0.02404111 -0.00563450
+v 0.01181221 -0.02353645 -0.00523158
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+v 0.00974341 -0.01932156 -0.00453039
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+v 0.01053382 -0.02348110 -0.00639875
+v 0.01140049 -0.02333047 -0.00608975
+v 0.01099384 -0.02363558 -0.00565385
+v 0.01199012 -0.02366777 -0.00453041
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+v 0.01408307 -0.02077114 -0.00743902
+v 0.01448082 -0.02096684 -0.00658085
+v 0.01560926 -0.02087414 -0.00506094
+v 0.01761452 -0.01130373 -0.00453036
+v 0.01146021 -0.01130371 -0.01185390
+v 0.00974341 -0.01310218 -0.01185391
+v 0.00974341 -0.02360984 -0.00663534
+v 0.01571473 -0.02099258 -0.00453040
+v 0.00974341 -0.02287988 -0.00821690
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+v 0.00974341 -0.02201089 -0.00992179
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+v 0.02031235 -0.01130372 -0.00950305
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_19.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84890772aa343d91d66e4fa2ce63ffcd4265efae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01904569 0.00657945 -0.01415000
+v 0.02397447 0.00145343 -0.01415001
+v 0.01828977 0.00657946 -0.01511891
+v 0.00980274 0.00657945 -0.01415000
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+v 0.01814847 0.00657946 -0.01526904
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+v 0.01343869 0.00657947 -0.01919504
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+v 0.00030782 0.00024345 -0.01458361
+v 0.00030782 -0.00072841 -0.01458312
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+v 0.00030782 -0.00235226 -0.01458263
+v 0.00030782 -0.00386064 -0.01458313
+v 0.01095193 -0.00386064 -0.01415003
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+v 0.01490814 0.00056947 -0.01919506
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_2.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a865206c2e12e4914cc2405fd6f05a4125130f51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_2.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00030639 -0.02711057 -0.00453042
+v 0.00030639 -0.02673037 -0.00564383
+v 0.00193305 -0.02719491 -0.00461645
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_20.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f569bd1b817d2450aaf08a3c7f377c54406615ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_20.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.02083523 -0.00386068 -0.00293346
+v 0.02018081 0.00657941 -0.00293343
+v 0.02549442 -0.00386068 -0.00293346
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_21.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8cdf2393157a7cdc08d6ac9adaddf03e3e4724
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_21.obj
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_22.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbce45f317720b2c2791e350a1d0a02531e9cd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_22.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00534305 -0.01658360 -0.01969005
+v -0.00534305 -0.01581505 -0.02228077
+v -0.00465302 -0.01586770 -0.02248749
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_23.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceef6682d9652a17fd99f5a0385b1ffe67a5c947
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_23.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01356566 0.02637460 0.00087749
+v -0.01356566 0.02634064 0.00070172
+v -0.01453035 0.02599794 0.00079154
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+v -0.01356566 0.02604733 -0.00043724
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_24.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e5a03c9541811a6c487bbbe472a0dfc62fda59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_24.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02114011 0.01557023 0.00087745
+v -0.02114011 0.02221516 0.00087747
+v -0.01356566 0.02136317 0.00087747
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_25.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5fb7cb38bf3f108cd97c16d161237a0e6af16a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_25.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02858271 -0.00896166 -0.00440246
+v -0.02342370 -0.00896166 -0.00440246
+v -0.02850765 -0.00896166 -0.00472427
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_26.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6102a7ef108eccb99fb82be360913ff3e986fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_26.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_27.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f035a42588e02946393ac2b3014682faaf5c4887
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_27.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00867778 -0.02649580 -0.00440253
+v -0.00867778 -0.02649344 -0.00440904
+v -0.00721633 -0.02712333 -0.00440253
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_28.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc85318e23a964911655ef06ab8b0c6bfda625ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_29.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899d771e9556c13be692610c0c8beec47aca3a17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_29.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_3.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5648a1369330704306aeee44a42837033f6f1d55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_30.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89636cfa545220794cf4a52d0252c6ed636d7d32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_30.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_31.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24f03a7a5196e9de8c9bd69e9da53287824c722
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_31.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_32.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e03fc13c401f6d579ff920958b7364bb378256
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_32.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_33.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ed97210058bdcd4fa300b6a1998dac66f7b590
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_33.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_34.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34c04d5352efa5c85702240c8a8a3addb7bbc52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_34.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_35.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5665d5b2225099fa7de6f0d4821cabb1f148cede
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_35.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_36.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc044cff1d9df011dece2e8c4f833f2e3268f973
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_36.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_37.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b38611665ec66bd7f41ce3ff19c08396722e383
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_37.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_38.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7597e8457e553093eca729621ecf5a02b9fcd326
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_38.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01626745 -0.00001956 -0.02371981
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_39.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923495f26db93399f4848c103d96d27928a4bdcf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_39.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_4.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e0c2f0ee6bd301a68a73e526436380a75f36b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_4.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_40.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf4f4dc0cde61c4a7f79c95d4d1025585ba3bc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_40.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_41.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1482abc59f38d78f84e6f680c0146a36185c33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_41.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_42.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8d7ed41f6ea8a89f2b908a784551d9a1ced2d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_42.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00030547 -0.02373915 -0.01185483
+v 0.00030547 -0.02372256 -0.01188253
+v 0.00063333 -0.02374745 -0.01185483
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_43.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de9835fe41fa134854826ff4efa89ec93901194
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_43.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02209849 0.00657944 -0.00958256
+v 0.02570569 0.00276354 -0.00958257
+v 0.02570569 0.00283507 -0.00990313
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+v 0.02090906 0.00657944 -0.01162351
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_44.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ffac09b6d29c761fd9cc3ddca4d961db29ddcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_44.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02908107 0.00658003 0.02009720
+v 0.02899218 0.00705851 0.02009721
+v 0.02863995 0.00794184 0.02081512
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_45.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c01cd2ef44d509a41763e101fc2fc038e0dee7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_45.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00193273 0.02873263 0.00204292
+v 0.00196340 0.02872941 0.00204292
+v 0.00265798 0.02851460 0.00121980
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+f 29 48 49
+f 29 49 39
+f 31 37 50
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+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 50
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+f 44 58 45
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+f 48 60 49
+f 51 59 52
+f 52 59 58
+f 56 60 57
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_46.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae65b60c0e01c9e84905f3061a87674ac91e4030
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_46.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01344090 0.00657947 -0.01919548
+v 0.01380504 0.00575988 -0.01919548
+v 0.01216465 0.00657948 -0.02232069
+v 0.00309916 0.00657947 -0.01919548
+v 0.01310334 0.00446203 -0.02205539
+v 0.01299930 0.00515797 -0.02178081
+v 0.01411139 0.00464597 -0.01919548
+v 0.01257851 0.00565872 -0.02227647
+v 0.01183634 0.00657948 -0.02307723
+v 0.00309916 0.00657947 -0.02006079
+v 0.00309916 0.00499241 -0.01919548
+v 0.01451368 0.00316417 -0.01919549
+v 0.01294612 0.00370989 -0.02297333
+v 0.01281549 0.00446203 -0.02269918
+v 0.01180166 0.00657948 -0.02313250
+v 0.00437425 -0.00386062 -0.01919551
+v 0.00747006 0.00657949 -0.02317097
+v 0.00894283 -0.00386060 -0.02314226
+v 0.01479228 0.00186631 -0.01919549
+v 0.01324206 0.00323264 -0.02247722
+v 0.01303976 0.00284533 -0.02308431
+v 0.01194963 0.00575990 -0.02322933
+v 0.01139937 0.00657949 -0.02327178
+v 0.01435993 -0.00386062 -0.01919551
+v 0.00768739 0.00657949 -0.02329831
+v 0.00966765 -0.00386060 -0.02348361
+v 0.01490904 0.00056947 -0.01919550
+v 0.01348598 0.00186632 -0.02237597
+v 0.01216465 0.00446204 -0.02328637
+v 0.01309871 0.00186633 -0.02314754
+v 0.01103175 0.00575990 -0.02354238
+v 0.01105834 0.00657949 -0.02338807
+v 0.01319582 -0.00386061 -0.02231497
+v 0.01447900 -0.00352747 -0.01919551
+v 0.00841222 0.00657949 -0.02354415
+v 0.01103175 -0.00332306 -0.02368789
+v 0.01103175 -0.00386060 -0.02366843
+v 0.00891277 0.00657949 -0.02366354
+v 0.01490788 -0.00072839 -0.01919550
+v 0.01358540 -0.00072838 -0.02237598
+v 0.01358077 0.00056948 -0.02237598
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+v 0.01021214 0.00657949 -0.02360694
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+v 0.01472176 -0.00253312 -0.01919551
+v 0.01293918 -0.00386061 -0.02297114
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+v 0.01486742 -0.00137732 -0.01919551
+v 0.01349407 -0.00202521 -0.02237599
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+v 0.01233227 0.00056949 -0.02349686
+v 0.01103175 0.00316419 -0.02369229
+v 0.01304207 -0.00299707 -0.02308699
+v 0.01479344 -0.00202522 -0.01919551
+v 0.01103175 -0.00072837 -0.02371220
+v 0.01103175 0.00186633 -0.02370953
+f 1 2 3
+f 1 3 9
+f 1 9 15
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+f 1 32 45
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+f 1 53 38
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+f 1 35 25
+f 1 25 17
+f 1 17 10
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+f 1 4 11
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+f 1 24 34
+f 1 34 47
+f 1 47 62
+f 1 62 55
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+f 1 39 27
+f 1 27 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
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+f 36 49 50
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+f 37 51 52
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+f 40 58 43
+f 40 43 41
+f 40 55 56
+f 42 59 44
+f 42 43 59
+f 43 58 59
+f 44 59 60
+f 44 60 54
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+f 44 53 45
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+f 46 61 56
+f 46 56 47
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+f 48 52 61
+f 49 63 50
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+f 50 63 59
+f 50 59 58
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+f 51 57 52
+f 52 57 61
+f 54 60 64
+f 54 64 63
+f 55 62 56
+f 56 61 57
+f 59 63 64
+f 59 64 60
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_47.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec16b0c94ecf361ed841b8566136aac77c899e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_47.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01648183 -0.00001956 -0.02366463
+v -0.01756815 -0.00001956 -0.02338156
+v -0.01756815 0.00056996 -0.02338308
+v -0.01648183 0.00056996 -0.02366311
+v -0.01648183 -0.00001960 -0.01403860
+v -0.01825496 -0.00001957 -0.02306196
+v -0.01825587 0.00056995 -0.02306348
+v -0.01823945 0.00144071 -0.02304368
+v -0.01767532 0.00187069 -0.02327806
+v -0.01743543 0.00316511 -0.02329936
+v -0.01648183 0.00316511 -0.02363114
+v -0.01648183 0.00186799 -0.02365549
+v -0.01648183 0.00918916 -0.01260646
+v -0.02114086 0.00918914 -0.00811837
+v -0.02114086 -0.00001961 -0.01084260
+v -0.02114086 -0.00001958 -0.01789510
+v -0.02114086 0.00011023 -0.01789662
+v -0.02114086 0.00056994 -0.01789662
+v -0.02114086 0.00087011 -0.01788292
+v -0.02114086 0.00186797 -0.01783421
+v -0.01818062 0.00230606 -0.02296911
+v -0.01728129 0.00446313 -0.02326891
+v -0.02114086 0.00312091 -0.01767441
+v -0.02114086 0.00350401 -0.01762419
+v -0.02114086 0.00408992 -0.01751004
+v -0.01648183 0.00446313 -0.02356264
+v -0.01648183 0.00918918 -0.01978984
+v -0.02114086 0.00918917 -0.01578723
+v -0.01808531 0.00316510 -0.02278040
+v -0.01708473 0.00576025 -0.02315934
+v -0.02114086 0.00546636 -0.01717065
+v -0.02114086 0.00576022 -0.01709760
+v -0.02114086 0.00652011 -0.01687084
+v -0.02114086 0.00705825 -0.01670342
+v -0.02114086 0.00848607 -0.01616467
+v -0.01648183 0.00576025 -0.02339371
+v -0.01648183 0.00781184 -0.02240751
+v -0.02057353 0.00918917 -0.01635490
+v -0.02091146 0.00918917 -0.01603835
+v -0.01694974 0.00647506 -0.02305128
+v -0.01648183 0.00681490 -0.02318520
+f 1 2 3
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+f 21 30 22
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+f 21 31 32
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+f 21 33 34
+f 21 34 35
+f 21 35 29
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+f 22 36 26
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+f 28 39 37
+f 28 37 40
+f 28 40 35
+f 29 35 30
+f 30 41 36
+f 30 35 40
+f 30 40 41
+f 37 41 40
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_48.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c85d123e7795cf14e060b42d23d131b291a844
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_48.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01371920 0.01287674 -0.00861482
+v 0.01371920 0.01367397 -0.00784763
+v 0.01371920 0.01367397 -0.00861482
+v 0.01724758 0.00658013 -0.00861485
+v 0.02103667 0.00658010 -0.00000298
+v 0.01773042 0.01367394 -0.00000295
+v 0.01947707 0.01367397 -0.00861482
+v 0.02260796 0.00658013 -0.00861485
+v 0.02566167 0.00658010 -0.00000298
+v 0.02269096 0.01367394 -0.00000295
+v 0.01954488 0.01367397 -0.00848414
+v 0.02203158 0.01148018 -0.00619187
+v 0.02107876 0.01082880 -0.00861483
+v 0.02243259 0.00745653 -0.00861484
+v 0.02343101 0.00786347 -0.00640939
+v 0.02279267 0.00658013 -0.00822957
+v 0.02556230 0.00658010 -0.00049533
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+v 0.02525365 0.00835651 -0.00000297
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+v 0.02252962 0.01367394 -0.00062260
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+v 0.02508413 0.00658011 -0.00238126
+v 0.02491344 0.00658011 -0.00289890
+v 0.02478250 0.00658011 -0.00328502
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+f 33 48 34
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_49.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad4560ee97c2b930e4c5b78bd13a5f6f8c6b7ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_49.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.02737669 -0.00386072 0.00812556
+v 0.02737669 -0.00374422 0.00760134
+v 0.02776690 -0.00386072 0.00847667
+v 0.02737669 -0.00386077 0.02130568
+v 0.02737669 -0.00362874 0.00721949
+v 0.02737669 -0.00327923 0.00626650
+v 0.03029468 -0.00357254 0.01217053
+v 0.03029468 -0.00361139 0.01237439
+v 0.03029468 -0.00379329 0.01343418
+v 0.03029468 -0.00379431 0.01344065
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+v 0.02737669 0.00575973 0.02132998
+v 0.02737669 -0.00313002 0.00605131
+v 0.02848847 -0.00258431 0.00674057
+v 0.03029468 -0.00299515 0.01089232
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+v 0.02737669 0.00657932 0.02129276
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_5.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2add291eabb9d8763eb3a3aad44098bfe78955
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_5.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_50.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6911197383e8c5ba021d51ec6509e7293ea7f497
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_50.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_51.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bba98f13991f2d5600d71852e9a8866127b39ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_51.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01649098 0.00657944 -0.00958256
+v 0.02018011 0.00657941 -0.00293343
+v 0.02209864 0.00657944 -0.00958256
+v 0.01726127 -0.00386065 -0.00958259
+v 0.02083585 -0.00386068 -0.00293346
+v 0.02490202 0.00657941 -0.00293343
+v 0.02228264 0.00657943 -0.00924412
+v 0.02570569 0.00276354 -0.00958257
+v 0.02308812 -0.00386065 -0.00958259
+v 0.02549462 -0.00386068 -0.00293346
+v 0.02478296 0.00657941 -0.00328554
+v 0.02517261 0.00582829 -0.00293343
+v 0.02251806 0.00657943 -0.00880219
+v 0.02570569 -0.00292251 -0.00958259
+v 0.02279227 0.00657943 -0.00822943
+v 0.02355084 0.00657942 -0.00661792
+v 0.02375469 0.00657942 -0.00616818
+v 0.02397207 0.00657942 -0.00563252
+v 0.02546215 0.00446809 -0.00293343
+v 0.02566420 0.00186625 -0.00293344
+v 0.02570569 0.00274615 -0.00950382
+v 0.02376190 -0.00386066 -0.00818065
+v 0.02545764 -0.00386068 -0.00306949
+v 0.02570569 -0.00290617 -0.00950319
+v 0.02565879 -0.00202528 -0.00293346
+v 0.02524116 -0.00386068 -0.00382448
+v 0.02507971 -0.00386067 -0.00435688
+v 0.02489661 -0.00386067 -0.00491336
+v 0.02393689 -0.00386066 -0.00778428
+v 0.02570569 0.00206554 -0.00839216
+v 0.02570569 0.00249374 -0.00890113
+v 0.02570569 0.00256425 -0.00904301
+v 0.02570569 -0.00072843 -0.00743671
+v 0.02570569 0.00056943 -0.00743606
+v 0.02570569 0.00183970 -0.00813572
+v 0.02570569 -0.00265171 -0.00890115
+v 0.02570569 -0.00199563 -0.00813509
+v 0.02570569 -0.00092362 -0.00750245
+f 1 2 6
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+f 1 16 15
+f 1 15 13
+f 1 13 7
+f 1 7 3
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+f 1 9 4
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+f 20 32 21
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+f 25 37 38
+f 25 38 33
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_52.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681073a9276dbad52d511af270356d14a92d5b25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_52.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00776691 0.02716675 0.00204291
+v 0.01319424 0.02476368 0.00204290
+v 0.01307771 0.02466158 0.00106748
+v 0.01294778 0.02455667 0.00020994
+v 0.00776691 0.02692198 0.00079207
+v 0.00776691 0.02210603 0.00204289
+v 0.01369590 0.02424194 0.00204290
+v 0.01371862 0.02418739 0.00190937
+v 0.01371862 0.02386289 0.00077537
+v 0.01203186 0.02354539 -0.00435630
+v 0.01181279 0.02337754 -0.00522948
+v 0.01183435 0.02464061 -0.00138725
+v 0.00776691 0.02660586 -0.00058813
+v 0.01371862 0.02258303 -0.00310234
+v 0.01305615 0.02336634 -0.00262140
+v 0.01288486 0.02318170 -0.00347789
+v 0.00776691 0.01776011 -0.00861480
+v 0.01371862 0.01287703 -0.00861482
+v 0.01371629 0.01860213 0.00204288
+v 0.01371862 0.02421816 0.00204290
+v 0.01371862 0.02147522 -0.00575320
+v 0.01371862 0.02090174 -0.00705724
+v 0.01371862 0.02067094 -0.00754651
+v 0.01371862 0.02041077 -0.00803476
+v 0.01174695 0.02205292 -0.00768526
+v 0.01079316 0.02218720 -0.00861479
+v 0.01139562 0.02316912 -0.00608806
+v 0.00776691 0.02480847 -0.00563321
+v 0.00776691 0.02532321 -0.00438029
+v 0.00776691 0.02584075 -0.00298757
+v 0.01147486 0.02453011 -0.00224479
+v 0.00776691 0.02623240 -0.00178263
+v 0.00776691 0.02321249 -0.00861478
+v 0.01371862 0.02008486 -0.00861480
+v 0.01371862 0.01859514 0.00202202
+v 0.01371862 0.01911128 0.00204288
+v 0.01011904 0.02243618 -0.00861479
+v 0.00776691 0.02351463 -0.00822669
+f 1 2 3
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+f 1 17 6
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+f 24 34 25
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+f 26 38 28
+f 26 28 27
+f 30 32 31
+f 33 38 37
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_53.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d18169ffe0cd72d2deab0360282b228a80a984
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_53.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00018761 -0.00142953 -0.01969772
+v -0.00018761 -0.00142953 -0.01869772
+v -0.00018761 -0.00042952 -0.01969772
+v -0.00018761 -0.00042952 -0.01869772
+v 0.00081239 -0.00142953 -0.01969772
+v 0.00081239 -0.00142953 -0.01869772
+v 0.00081239 -0.00042952 -0.01969772
+v 0.00081239 -0.00042952 -0.01869772
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_54.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd26af2beaba7e528c96b3b13b53bbbe89dc0093
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_54.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00131091 0.00499289 -0.02012776
+v 0.00131091 0.00499289 -0.01912775
+v 0.00131091 0.00657947 -0.02012776
+v 0.00131091 0.00657947 -0.01912775
+v 0.00309898 0.00499289 -0.02012776
+v 0.00309898 0.00499289 -0.01912775
+v 0.00309898 0.00657947 -0.02012776
+v 0.00309898 0.00657947 -0.01912775
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_6.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1e0afa3ab9612e804230a35d8b3e40f3eba798
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_6.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00063323 0.02277896 -0.01309176
+v 0.00190979 0.02261404 -0.01309176
+v 0.00144210 0.02206381 -0.01411243
+v 0.00063323 0.02259026 -0.01336719
+v 0.00030547 0.02258233 -0.01336719
+v 0.00033805 0.02276945 -0.01309176
+v 0.00453382 0.02198611 -0.01309176
+v 0.00030547 0.01545464 -0.02294197
+v 0.00063323 0.02206222 -0.01411139
+v 0.00453382 0.02164201 -0.01356155
+v 0.00453382 0.02099188 -0.01439514
+v 0.00030547 0.02205905 -0.01410827
+v 0.00030547 0.02276786 -0.01309176
+v 0.00556120 0.02164835 -0.01309176
+v 0.00030547 0.01515020 -0.02315609
+v 0.00400479 0.01425268 -0.02307606
+v 0.00323426 0.01439382 -0.02318208
+v 0.00193279 0.01458252 -0.02327459
+v 0.00537719 0.02084758 -0.01419246
+v 0.00030547 0.01568454 -0.01309178
+v 0.00950395 0.01976930 -0.01309177
+v 0.00908035 0.01938556 -0.01400954
+v 0.00030547 0.01501383 -0.02321741
+v 0.00447632 0.01357084 -0.02327043
+v 0.00650424 0.01291435 -0.02303449
+v 0.00583337 0.01310147 -0.02315714
+v 0.00323426 0.01354864 -0.02350013
+v 0.00193279 0.01354864 -0.02363941
+v 0.00030547 0.01489014 -0.02327251
+v 0.00052014 0.01489966 -0.02325068
+v 0.00030547 0.00657945 -0.01458956
+v 0.01238291 0.00657945 -0.01309182
+v 0.01210690 0.01801552 -0.01309177
+v 0.00583337 0.01224995 -0.02345649
+v 0.01191523 0.01705300 -0.01427043
+v 0.00791497 0.01171715 -0.02311453
+v 0.00701601 0.01218970 -0.02319041
+v 0.00453382 0.01224995 -0.02365189
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+v 0.00921261 0.01044542 -0.02312285
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+v 0.01656718 0.01326476 -0.01309179
+v 0.01042208 0.00906110 -0.02305842
+v 0.00968029 0.00955744 -0.02320912
+v 0.00713293 0.00965416 -0.02369762
+v 0.00030547 0.01242438 -0.02346895
+v 0.00891359 0.00657949 -0.02366334
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+v 0.01977390 0.00705833 -0.01309181
+v 0.00843441 0.00835706 -0.02368100
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+v 0.01975282 0.00712335 -0.01309181
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+v 0.01180022 0.00657948 -0.02313222
+v 0.01935414 0.00811282 -0.01309181
+v 0.01139962 0.00657949 -0.02327150
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+
diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_7.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a1605fdf92b658f227cb6ff373ebdce4ebdd0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_7.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.00884080 -0.03008086 0.02000088
+v 0.00903000 -0.02990551 0.02064691
+v 0.00884080 -0.03000172 0.02046378
+v 0.00884080 -0.03003896 0.01910051
+v 0.00922983 -0.02998309 0.01930653
+v 0.00922983 -0.02998309 0.01978723
+v 0.00969123 -0.02972858 0.02016875
+v 0.01103293 -0.02918852 0.02009753
+v 0.01179705 -0.02868417 0.02080460
+v 0.00884080 -0.02993810 0.02069778
+v 0.00884080 -0.02682958 0.00209265
+v 0.01195838 -0.02876330 0.01912340
+v 0.01197497 -0.02877106 0.02009753
+v 0.01294557 -0.02471589 0.00021307
+v 0.01433772 -0.02736506 0.02077918
+v 0.01363202 -0.02755594 0.02093941
+v 0.01103293 -0.02884712 0.02094958
+v 0.01262425 -0.02844361 0.02009754
+v 0.00973305 -0.02911404 0.02110727
+v 0.00884080 -0.02932355 0.02114033
+v 0.00884080 -0.02665266 0.00119737
+v 0.01446917 -0.02744575 0.01918445
+v 0.01308033 -0.02482142 0.00107275
+v 0.00884080 -0.02657662 0.00083366
+v 0.01182826 -0.02479658 -0.00137656
+v 0.01198958 -0.02366835 -0.00453041
+v 0.01545570 -0.02209318 -0.00227438
+v 0.01562233 -0.02217699 -0.00169448
+v 0.01562233 -0.02223596 -0.00146049
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_8.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057c3d6ab2618cbcc84c44b45edf8c7dcbdff57c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_9.obj b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/textures/material_0.png b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/video.mp4 b/dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/video.mp4
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