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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/coffee_cup_008_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/coffee_cup_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..724c56d97881f93a399ee1b9f9123ebfea6efb66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/coffee_cup_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4520af055dafc9f99adf0a8adf635070de2aa7c7667b838855fcbb4fd12ed29
+size 6949457
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/material.mtl b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce0f74c32adf599e583e654cc36ced7719915b0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/material_0.png b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..724c56d97881f93a399ee1b9f9123ebfea6efb66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4520af055dafc9f99adf0a8adf635070de2aa7c7667b838855fcbb4fd12ed29
+size 6949457
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/coffee_cup_008.xml b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/coffee_cup_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b38d25e1b9ce1adb4f50de0b4c6e9811b36ba787
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/coffee_cup_008.xml
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44a190890bf6bc93d728ab3c32fbf5f5d5e5745
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a7b556dd24222176321f710a360451245a76e726725b9f37c61cdc4e90d085
+size 107998965
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c4a1abfad27e5cae5f557c8f29e3c901f16f7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision.obj
@@ -0,0 +1,23427 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_008_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_0.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625898a008d1a7afbb12bd3655f2fd3444435ee5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_1.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7deadac7b982946a30a974f3f1b646a5789952
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_1.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_10.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03ea2a5572833c047ac59ba5296474b2438eab9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_10.obj
@@ -0,0 +1,754 @@
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_11.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02327f95c4a3ef4a48c0e399eb5bbdfcd394a0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_12.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33062dd09255e9cc5d759e413174573bb07e7410
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_13.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c6c06342e59fc376010ee3d6d9fb5d1d02fc71e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_14.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c95d7603f3ceb7b04c8c3b12c67c92c52bb7343
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_14.obj
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+v -0.03429379 -0.01158477 -0.03695164
+v -0.03396902 -0.01209617 -0.03882916
+v -0.03423762 -0.01138668 -0.03820332
+v -0.03400940 -0.01158678 -0.03995492
+v -0.03437104 -0.01018196 -0.03995492
+v -0.03543312 -0.00930979 -0.03028230
+v -0.03498547 -0.01118458 -0.03028231
+v -0.03520666 -0.01034775 -0.03028231
+v -0.03424640 -0.01069740 -0.03995492
+v -0.03415511 -0.01107134 -0.03995492
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+f 1 42 41
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+f 1 37 25
+f 1 25 14
+f 1 14 7
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+
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_15.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574ce34a2568c95e8a5600284979be0b241ed4d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_15.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00027535 0.02716466 -0.03948784
+v 0.01424210 0.02548398 -0.03948785
+v -0.00027535 0.02945025 -0.03509300
+v -0.00027535 0.03976029 -0.03948779
+v 0.01424210 0.02795177 -0.03509301
+v 0.01424210 0.03871661 -0.03948780
+v -0.00027535 0.04012031 -0.03509296
+v -0.00027535 0.03981713 -0.03882904
+v 0.00002878 0.03979528 -0.03948779
+v 0.01424210 0.03908975 -0.03509297
+v 0.01375179 0.03884925 -0.03948780
+v 0.01424210 0.03873263 -0.03931914
+v 0.00058731 0.04021798 -0.03509296
+v -0.00027535 0.03997310 -0.03695261
+v 0.00058731 0.03991479 -0.03882904
+v 0.00058731 0.03985796 -0.03948779
+v 0.01424210 0.03906351 -0.03541482
+v 0.01393938 0.03917138 -0.03509297
+v 0.01277543 0.03906791 -0.03948780
+v 0.01375179 0.03891047 -0.03882905
+v 0.01424210 0.03877782 -0.03882905
+v 0.00246896 0.04034042 -0.03509296
+v 0.00246896 0.04019612 -0.03695261
+v 0.00058731 0.04006931 -0.03695261
+v 0.00124816 0.03990315 -0.03948779
+v 0.00246896 0.04004307 -0.03882904
+v 0.01357556 0.03912183 -0.03679858
+v 0.01283086 0.03935942 -0.03607013
+v 0.01299287 0.03939732 -0.03509297
+v 0.01206768 0.03922242 -0.03948780
+v 0.01224675 0.03924719 -0.03882905
+v 0.01257646 0.03930987 -0.03732094
+v 0.00434920 0.04037249 -0.03509296
+v 0.00434920 0.04023111 -0.03695261
+v 0.00246896 0.03998623 -0.03948779
+v 0.00434920 0.04007805 -0.03882904
+v 0.01187155 0.03962180 -0.03509296
+v 0.01115670 0.03939880 -0.03948780
+v 0.01130734 0.03942648 -0.03882905
+v 0.01191845 0.03947750 -0.03679857
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+v 0.00622943 0.04031564 -0.03509296
+v 0.00622943 0.04017134 -0.03695261
+v 0.00434920 0.04002121 -0.03948779
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+v 0.00622943 0.03996291 -0.03948779
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+v 0.01058111 0.03949063 -0.03948779
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+v 0.00810967 0.04002558 -0.03695261
+v 0.00810967 0.03987107 -0.03882904
+v 0.00810967 0.03981423 -0.03948779
+v 0.00998990 0.03993957 -0.03509296
+v 0.01000695 0.03957808 -0.03948779
+v 0.00998990 0.03963784 -0.03882904
+v 0.00812672 0.04016988 -0.03509296
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+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 25
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+f 1 35 44
+f 1 44 47
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+f 1 49 38
+f 1 38 30
+f 1 30 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
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+f 2 6 12
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+f 26 44 35
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+f 52 58 55
+f 53 57 54
+f 54 57 56
+
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_16.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8437e832e0692d95e0d2e88af1453f7cf307c84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_16.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02226643 0.00625149 -0.03995486
+v -0.02598197 0.00625145 -0.03028225
+v -0.02626322 -0.00484366 -0.03028229
+v -0.02266487 -0.00484362 -0.03995490
+v -0.03507434 0.00625149 -0.03995486
+v -0.03595256 0.00625145 -0.03028225
+v -0.03613317 -0.00484366 -0.03028229
+v -0.03523979 -0.00484362 -0.03995490
+v -0.03517223 0.00540763 -0.03995486
+v -0.03614558 0.00473424 -0.03028225
+v -0.03606975 0.00538370 -0.03028225
+v -0.03617315 -0.00445703 -0.03028229
+v -0.03525357 -0.00472090 -0.03995490
+v -0.03525495 0.00465608 -0.03995486
+v -0.03629861 0.00270983 -0.03028226
+v -0.03623657 -0.00371743 -0.03028228
+v -0.03538041 -0.00284529 -0.03995489
+v -0.03630274 -0.00277582 -0.03028228
+v -0.03533491 0.00353202 -0.03995487
+v -0.03634824 0.00090481 -0.03028227
+v -0.03538317 0.00278047 -0.03995487
+v -0.03541901 0.00165640 -0.03995487
+v -0.03543969 0.00090485 -0.03995488
+v -0.03543831 -0.00096967 -0.03995488
+v -0.03633032 -0.00171800 -0.03028228
+v -0.03634962 -0.00096971 -0.03028227
+f 1 2 3
+f 1 3 4
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+f 1 8 13
+f 1 13 17
+f 1 17 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 2 11 10
+f 2 10 15
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+f 2 18 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
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+f 13 16 18
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+f 15 22 23
+f 15 23 20
+f 17 18 24
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+f 20 23 26
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+f 24 25 26
+
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_17.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530931b72289cc84a0eef55398c3d3cbfae7df6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01429081 -0.03914502 -0.03502134
+v 0.01429081 -0.03914071 -0.03507556
+v 0.01563440 -0.03862728 -0.03695278
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+v 0.01429081 -0.02803101 -0.03502130
+v 0.01429081 -0.03887967 -0.03829347
+v 0.01563440 -0.03846980 -0.03882957
+v 0.01751544 -0.03801463 -0.03695278
+v 0.01751544 -0.03816564 -0.03507556
+v 0.01751544 -0.03816996 -0.03502134
+v 0.01568883 -0.03876103 -0.03502134
+v 0.02587295 -0.02038796 -0.03502127
+v 0.02587295 -0.01710680 -0.03948802
+v 0.01429081 -0.02564078 -0.03948805
+v 0.01429081 -0.03883437 -0.03882957
+v 0.01429081 -0.03879338 -0.03930008
+v 0.01497337 -0.03859059 -0.03948810
+v 0.01563440 -0.03840939 -0.03948810
+v 0.01749956 -0.03779889 -0.03948810
+v 0.01764583 -0.03781185 -0.03878803
+v 0.01755852 -0.03815485 -0.03502134
+v 0.01836015 -0.03750984 -0.03938622
+v 0.01851095 -0.03756377 -0.03813474
+v 0.01863907 -0.03761338 -0.03695278
+v 0.02587295 -0.03422871 -0.03502133
+v 0.02587295 -0.03382313 -0.03948808
+v 0.01429081 -0.03877612 -0.03948810
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+v 0.01884429 -0.03769321 -0.03502134
+v 0.01929783 -0.03713231 -0.03948810
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+v 0.02278891 -0.03595880 -0.03507555
+v 0.02279345 -0.03596096 -0.03502133
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+
diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_18.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b04f4f240064f6737c29bccb99d37472b02fa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_18.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01424352 0.02548416 -0.03948828
+v 0.02587277 0.01705830 -0.03948831
+v 0.01424352 0.02809003 -0.03416260
+v 0.01424352 0.03871707 -0.03948823
+v 0.02587277 0.02052775 -0.03416262
+v 0.02586822 0.02048663 -0.03416262
+v 0.02587277 0.03374553 -0.03948825
+v 0.01424352 0.03463074 -0.03416257
+v 0.01424352 0.03876251 -0.03900081
+v 0.01563457 0.03834480 -0.03948823
+v 0.02587277 0.03423033 -0.03416257
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+v 0.02587277 0.03374769 -0.03946949
+v 0.01424466 0.03916724 -0.03416256
+v 0.01424352 0.03908932 -0.03507537
+v 0.01424352 0.03877766 -0.03882930
+v 0.01563457 0.03840539 -0.03882930
+v 0.01620487 0.03816300 -0.03948823
+v 0.02587277 0.03398577 -0.03695209
+v 0.02503723 0.03473030 -0.03416257
+v 0.02520115 0.03420437 -0.03887310
+v 0.02392394 0.03486884 -0.03948824
+v 0.02587277 0.03385374 -0.03839455
+v 0.01495953 0.03897461 -0.03416256
+v 0.01563457 0.03856556 -0.03695207
+v 0.01424352 0.03906335 -0.03541473
+v 0.01751510 0.03796603 -0.03695207
+v 0.01765284 0.03775608 -0.03882513
+v 0.01751396 0.03774094 -0.03948823
+v 0.02503723 0.03448357 -0.03695208
+v 0.02503723 0.03465022 -0.03507538
+v 0.02446920 0.03505495 -0.03416257
+v 0.02339689 0.03523244 -0.03882931
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_19.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf51e89ea584cb1dabd1f44702afd77d73710f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_2.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254ef62e5abbcabbaabaa9c9e1ef8a55c1bae770
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_20.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3fef0d7fdb20d0a50a7c0805e7eb54868d529a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_21.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9887fa38281438c9cdb125af2bc95ab30c0e7582
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_21.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_22.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f202053c1abea7e947510c5950d4f0d99cc0a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_22.obj
@@ -0,0 +1,703 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_23.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf671a1f7c5f12ed54c0de64c16ba45c94adef1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_24.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..520a2f5ad08c624e0812adeaccabcb03e1fdf948
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_25.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..013a75281d7e590a2e95a0f8c62ea402b66fe1b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_25.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_26.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83dffb2686111337a43207b50b77deead5142c61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_26.obj
@@ -0,0 +1,928 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_27.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f491d55a7a8d4e1eba75bf4a3fb24f63c104a9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_28.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ea2b51efac282b006c6a5aadced24b654aa0137
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_28.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_29.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81ac05f223a3f3750a68c3bfdfb3f3441a9694d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_3.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74196ef2d88bcde591961d3682197eb25e0a09bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_30.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d797128534c828b98be743220a5b3a0cea0b0301
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_4.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3af7d96e1e867500018a147f712afc143a63761
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_5.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..219be10a03a1bc74af8c5c6f4ca0a7beb2ef18dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_6.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83fde17d57fbc8b88a335ad20f19b0c543b389ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_6.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_7.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3636c40fd9be7c426585ed7ea9ee269e0b866ecd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_7.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_8.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fc89bccb224474d7a9bc2c9647e39d3f829522
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_9.obj b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e94a7cf1b075dfbddf3fac7c87b34acf02d1181
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/mjcf/mesh/coffee_cup_008_collision_9.obj
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