diff --git a/.gitattributes b/.gitattributes
index e9e01a9138743123289a5421dde8c5732c45d465..8d79865c3de47b412159b8238124d8676013b8b6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4817,3 +4817,5 @@ dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b28
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.urdf b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.usd b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.usd
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032_collision.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eab31c8a03231998b4d86efb798147335fffa3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032_collision.obj
@@ -0,0 +1,13206 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21c7b1dbb47eb66656bfc2a808d854562a700b81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29610bd58226a7754ac6ae2d3028493a8fed97afa155c5b84cf237dfdab6b5ca
+size 9133569
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/material.mtl b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a7edca2f33cfa1b8e4ecac376abc598401258fdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/material_0.png b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21c7b1dbb47eb66656bfc2a808d854562a700b81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29610bd58226a7754ac6ae2d3028493a8fed97afa155c5b84cf237dfdab6b5ca
+size 9133569
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/coffee_cup_032.xml b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/coffee_cup_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9d14c3f5c166120d7e5e4be456ecf8c36f8933b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/coffee_cup_032.xml
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06664f2c3e64172101ed61c713d18573d56438e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a15ba3f669084c5519f11e16374be7595610f9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision.obj
@@ -0,0 +1,13206 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_032_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_0.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b7f405dafdb08813c1dc32a2d525638f2b1b46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_0.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_1.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b4fc46cd574747965e23909f8c15d85d52eef5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_10.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075f6b3b27b8fa12561df50ca6ddcc2d307c11a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_10.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_11.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17900e363c56d7818037f495e5bd5913cf6c81d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_11.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_12.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4275a80591fbe8314a56bf51ecc46ab9f88b455
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_12.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_13.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..469ab9935837788b8db11b878fb6e2554d09de0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_13.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_14.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2b75bace7518aaf0e0efb24ac374406856d3ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_15.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96956f580cf8367c52a3197c23acf8e7a26c3846
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_15.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_16.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e549adfebacc45f4392ef485bad31aeb3d36910
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_16.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_17.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff16fca705e274e5a0e6ed58383917b5bf84beea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_18.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29feb47ca60ee496067ea6529e2d1f63b8064f26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_19.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc5215890f21d94c8082fca904b0cee66cd5701
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_19.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_2.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa5a8462c4029214d1da6eac9054fd18ad044e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_20.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446a51e6323ece95a72ae8fc6f07a58c59937c6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02035341 -0.02004002 -0.06408358
+v 0.03103596 -0.02004002 -0.06408358
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+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_21.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d28e5ad865de360abbaf63ac9264f687c96426
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_21.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.04510612 0.00007018 -0.06429195
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+v -0.04287978 0.01367014 -0.06429190
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+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_22.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f77e8d9cc421751a4e6747ee40710343195785f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_22.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03146311 -0.02004007 -0.05255869
+v 0.03138393 -0.02024623 -0.05255869
+v 0.03103717 -0.02004002 -0.06408358
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_23.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43953e061a0b682dc3fd2cf79b8855c141cbf007
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_23.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_24.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63518f1ce7cbb10362f82c37797264c3fd6801d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_24.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_25.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b23517b528fe91d3ad7ff76d09c76c3590e9995
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_25.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_26.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb072ac4ea01dd77fe095e5200e6a175a1870f78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_26.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_27.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bd4f7c9de1fc70aa69f32346b1da5c2a48ee1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_27.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_28.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673a1827fd82e6203fe1ec11674c67888bf90bbb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_28.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.02714381 -0.02143312 -0.00967874
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+v 0.03631155 -0.02143312 -0.00967874
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_29.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0dc6da335ea6064ac9fdfc6b68a9f4faf5c7b91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_29.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_3.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53065fbc6d62a542e97a94893237c2d80cfc0ea9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_30.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec54e058189d0b32ac91afe6ee07306fd6ac5ed4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_30.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_31.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbed00278a0068f620f03b289d6e4d600e6e9853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_31.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_32.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd3310acefa4548fba3a9f47f209daf37de9c37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_32.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_33.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ba80ba0c1df3554c197cfed979739efd892c56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_33.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_34.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f1253f4bbc7177f219e9d1a4e11f5d0f5c2d51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_35.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983c4f895b0c628f7df82c2c86fcce1e44c839fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_35.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v 0.02210871 -0.02143297 -0.05229012
+v 0.03057167 -0.01280965 -0.01998535
+v 0.03035929 -0.01280964 -0.02204163
+v 0.02989349 -0.01280962 -0.02668298
+v 0.02886373 -0.01280958 -0.03715328
+v 0.02861030 -0.01280957 -0.03978029
+v 0.02837830 -0.01280956 -0.04225623
+v 0.02814986 -0.01280956 -0.04472798
+v 0.02792677 -0.01280955 -0.04716615
+v 0.02774116 -0.01280954 -0.04923083
+v 0.02754128 -0.01280953 -0.05150115
+v 0.02749131 -0.01280953 -0.05208446
+f 1 2 9
+f 1 9 17
+f 1 17 23
+f 1 23 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 19
+f 1 19 12
+f 1 12 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 8 2
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+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 13 18
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+f 12 18 13
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+f 20 31 32
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+f 20 34 35
+f 20 35 23
+f 20 23 24
+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_36.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b3835cf34271bbd67e7a83f74ab86c717cbe78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_36.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03306063 0.00012884 -0.02000094
+v 0.04037815 0.00012884 -0.02000094
+v 0.03306186 0.00012884 -0.01998252
+v 0.03014945 0.01405415 -0.02000089
+v 0.04038928 0.00143357 -0.02000093
+v 0.04278229 0.00012879 -0.00552609
+v 0.03429361 0.00012879 -0.00552609
+v 0.03015068 0.01405687 -0.01998247
+v 0.03020510 0.01405687 -0.02000089
+v 0.04027180 0.00388079 -0.02000093
+v 0.04168287 0.00295504 -0.01195730
+v 0.04278105 0.00143352 -0.00552608
+v 0.04278229 0.00033602 -0.00552609
+v 0.03167182 0.01405682 -0.00552604
+v 0.03832029 0.01405687 -0.02000089
+v 0.04000714 0.00634710 -0.02000092
+v 0.04265243 0.00388074 -0.00552608
+v 0.04276374 0.00182208 -0.00552608
+v 0.04064775 0.01405682 -0.00552604
+v 0.03847735 0.01367104 -0.02000089
+v 0.03974620 0.00877660 -0.02000091
+v 0.04238531 0.00632933 -0.00552607
+v 0.04078503 0.01367099 -0.00552604
+v 0.03912538 0.01244266 -0.01874129
+v 0.03904376 0.01187005 -0.02000090
+v 0.04162721 0.01014399 -0.00653770
+v 0.04175212 0.00863613 -0.00746152
+v 0.04162969 0.00772678 -0.00908668
+v 0.04233955 0.00671925 -0.00552607
+v 0.04146644 0.01127830 -0.00552605
+v 0.04168905 0.01039758 -0.00552605
+v 0.04194628 0.00915829 -0.00552606
+v 0.04201677 0.00875201 -0.00552606
+f 1 2 6
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+f 1 7 3
+f 1 3 4
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+f 1 20 25
+f 1 25 21
+f 1 21 16
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+f 1 5 2
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+f 24 30 26
+f 26 30 31
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+f 26 33 27
+f 27 33 29
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_37.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b99da0880c6716001450238626d4c81429f937
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_37.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.04516876 0.00632939 -0.02141961
+v 0.04516876 0.00698516 -0.02146104
+v 0.03974617 0.00877660 -0.02000091
+v 0.04027001 0.00390124 -0.02000093
+v 0.04027180 0.00388079 -0.02000093
+v 0.04038801 0.00145402 -0.02000093
+v 0.04038801 0.00143357 -0.02000093
+v 0.04037729 0.00012884 -0.02000094
+v 0.04516876 0.00012885 -0.02222620
+v 0.04516876 0.00877525 -0.02157900
+v 0.03904354 0.01187005 -0.02000090
+v 0.03305956 0.00012884 -0.02000094
+v 0.04516876 0.00012890 -0.03526531
+v 0.04516876 0.00896748 -0.02161088
+v 0.03831945 0.01405687 -0.02000089
+v 0.03846964 0.01368877 -0.02000089
+v 0.03847679 0.01367104 -0.02000089
+v 0.03015070 0.01405415 -0.02000089
+v 0.02993794 0.01405688 -0.02192329
+v 0.02988073 0.01405688 -0.02245888
+v 0.02855592 0.01405693 -0.03493689
+v 0.02812147 0.01405694 -0.03937147
+v 0.02788726 0.01405695 -0.04179757
+v 0.02765842 0.01405696 -0.04421730
+v 0.02743672 0.01405697 -0.04662427
+v 0.03104463 0.00012893 -0.04225670
+v 0.04516876 0.00388085 -0.03526530
+v 0.04336838 0.00012892 -0.03978278
+v 0.04337017 0.00143365 -0.03978277
+v 0.04516876 0.01104250 -0.02270118
+v 0.03020434 0.01405687 -0.02000089
+v 0.04516876 0.01158104 -0.02322721
+v 0.04516876 0.01229135 -0.02394451
+v 0.04516876 0.01272898 -0.02502207
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+v 0.04516876 0.00971056 -0.03408251
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+v 0.03680692 0.00786191 -0.05256681
+v 0.04516876 0.01123205 -0.03244385
+v 0.04180400 0.01029000 -0.04141502
+v 0.03550714 0.01156751 -0.05256680
+f 1 2 3
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+f 1 7 8
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+f 1 9 13
+f 1 13 27
+f 1 27 41
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+f 1 60 65
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+f 1 47 35
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+f 55 57 56
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+f 60 61 66
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+f 61 62 66
+f 62 64 66
+f 64 67 66
+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_38.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473db7870ec078e4d5fd87df54a5864322ee4e92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_38.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03057098 -0.01280965 -0.01998052
+v 0.03870301 -0.01280965 -0.01998052
+v 0.03135953 -0.01280967 -0.01242559
+v 0.03396840 0.00012754 -0.00967866
+v 0.03306212 0.00012757 -0.01998047
+v 0.04022680 -0.01280968 -0.00967871
+v 0.03903287 -0.01163941 -0.01998051
+v 0.03164940 -0.01280968 -0.00967871
+v 0.04189052 0.00012754 -0.00967866
+v 0.04035230 0.00012757 -0.01998047
+v 0.03989250 -0.00836046 -0.01998050
+v 0.04074879 -0.01078709 -0.00967870
+v 0.04191606 -0.00349082 -0.00967867
+v 0.04168616 -0.00189758 -0.01197480
+v 0.04037340 0.00012631 -0.01998047
+v 0.04134853 -0.00841748 -0.00967869
+v 0.04130299 -0.00859986 -0.00967869
+v 0.04018237 -0.00591360 -0.01998049
+v 0.04157843 -0.00686223 -0.00967869
+v 0.04144293 -0.00792608 -0.00967869
+v 0.04138074 -0.00826803 -0.00967869
+v 0.04168616 -0.00270307 -0.01197480
+v 0.04039561 -0.00346546 -0.01998048
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
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+f 1 5 10
+f 1 10 15
+f 1 15 23
+f 1 23 18
+f 1 18 11
+f 1 11 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
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+f 4 8 6
+f 4 6 12
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+f 11 21 16
+f 13 19 22
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+f 14 22 23
+f 14 23 15
+f 18 23 22
+f 18 22 19
+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_39.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b75fc384e25bc40bf26363d2b75ee550d90684
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_39.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04516703 -0.00590979 -0.02146015
+v 0.04516703 -0.00788678 -0.02155583
+v 0.04516703 -0.00548044 -0.02149842
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+v 0.04037242 0.00012757 -0.01998685
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+v 0.03870254 -0.01280965 -0.01998052
+v 0.04516703 -0.01071106 -0.02261457
+v 0.04516703 0.00012763 -0.03526503
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+v 0.04516703 -0.01243221 -0.02487234
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+v 0.03036008 -0.01280964 -0.02204057
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_4.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb4cc600ef03d475bfe972f2275cc15b8995b173
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_4.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_5.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4753afab9b99e57af589b165d88fe2170ea275
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_5.obj
@@ -0,0 +1,1375 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_6.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085e5849510c7f8922d77b891c23b053a6720f02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04199199 -0.01331849 -0.03071901
+v 0.04199199 -0.01331849 -0.02733740
+v 0.04199199 -0.01231849 -0.03071901
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+v 0.04516876 -0.01231849 -0.02733740
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+
diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_7.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8845e2a53fae8d769e79e469f12498b2a32fca1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_8.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a902c4c01b7ecffd43d47bc5237cd3d883840d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_8.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_9.obj b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3dcb4c02cd7d2585015cbb3c5ae5eac495ca3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mjcf/mesh/coffee_cup_032_collision_9.obj
@@ -0,0 +1,397 @@
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