diff --git a/.gitattributes b/.gitattributes
index 6721275b6b30c4f2359e961344ea5ce7176149b2..c84d775e3851534d0ae7c7fb37dec59618791d5e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4703,7 +4703,5 @@ dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.us
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dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_033.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/mesh/thermos_007.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mug_040.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/coffee_cup_014.urdf b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/coffee_cup_014.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/coffee_cup_014.usd b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/coffee_cup_014.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014.mtl b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014.mtl
new file mode 100644
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+newmtl coffee_cup_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de98f8d1912b5afa709612eb0d955d2f575b0464
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014_collision.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1428eede2b6721c8fdf905819964aece1258a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..752e9f2ae781b96ef276a3875e516aecc123c5a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/coffee_cup_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549d7b79a47eaa09dcaf19c545fe76a4a95200d6478aa854dc820a3ffb49c674
+size 9471856
diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/material.mtl b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b3fda8e1e9caa7b74d3324f348af580834bd002
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/material_0.png b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..752e9f2ae781b96ef276a3875e516aecc123c5a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549d7b79a47eaa09dcaf19c545fe76a4a95200d6478aa854dc820a3ffb49c674
+size 9471856
diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/coffee_cup_014.xml b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/coffee_cup_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c79e5bf5bcb0ea358a1a901dd60d1311644bf30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/coffee_cup_014.xml
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f612f20d676893d46f8d55b6ff4f0855c13b1481
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014.obj
@@ -0,0 +1,104650 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b07943e431bee481a3b8fe0eef714fb0c74cbe5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision.obj
@@ -0,0 +1,11686 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_0.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..110e716c8b44e22a2f04825bb25e91ed26cb78a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_0.obj
@@ -0,0 +1,865 @@
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_1.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26483fe1533b5bed1cc4fe0e8215273263b0a1b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_10.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1db24f832b85a7c2ab11f6e9d59bd6268e7299
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_11.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d8d4a3f48cbebaa16946b652d059466d17c86e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_11.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_12.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a776f702f72b5191c667fc2b0a6dfb4a9664af50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_12.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_13.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee0be0ebfee502eb47a90a407544df62ffb3506
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_13.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_14.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09669f2348b9093ce192bd8abb77b395631856d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_14.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_15.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68af714cd3a161761a35dd7b44203424ba876595
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_16.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70f392d87325a31b0c30be1ac9cfb68db93b637
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_16.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_17.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34a0c6d276c157cbef5eaa3b64837beac38ca0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_17.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_18.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f3a765c3373e79e2d0690dbc57ae8d12e42a91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_19.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad90d1cc9b39bdd190f7db7638415ff9e9d34770
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_2.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4572964c9d140b7e63cadd2608b00f15a48fb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_20.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52743d783111498bf621f673d44d966d7f9b673a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_21.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb4875d91ebfc69519b568e8fb2f829246ad9e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_21.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_22.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261c7ccdc2b058a4a28b9250e50675f055eef0fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_3.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077582e7613ddc4567aebeb77d0471ff21a6ddff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_3.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_4.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658f392d4011fa3d682784af72bdd6552bd9574d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_4.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_5.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92cb438d93f6bbb7ef5573b6c15fee5432b049e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_6.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f0825a4ec4df495dbbd9057f8aa3098d749a9c
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_7.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f84ce98d4237aa66f38fa2138a1a18c22927a76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_7.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_8.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765617a6812d035f415510124e8bdb1f91eb250d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_8.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_9.obj b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/mjcf/mesh/coffee_cup_014_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/textures/material_0.png b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/video.mp4 b/dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/video.mp4
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