diff --git a/.gitattributes b/.gitattributes
index 681a40ac9994ce93202ceacd503f82b3602d2c27..b6348be62758f08610807a805db80c04dd24c960 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4661,5 +4661,4 @@ dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/baby_bottle_008.u
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dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/26b99790a6fd5150b6f5c6a5cca366eb/mesh/wine_glass_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/26b99790a6fd5150b6f5c6a5cca366eb/wine_glass_015.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/297e9c3a31595923bef71b19291668fd.urdf b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/297e9c3a31595923bef71b19291668fd.urdf
new file mode 100644
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/297e9c3a31595923bef71b19291668fd.usd b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/297e9c3a31595923bef71b19291668fd.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug.glb b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug_collision.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2690ad53a373c12593d7077659e6966d741a33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug_gs.ply b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/coffee_mug_gs.ply
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/material.mtl b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/material_0.png b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mesh/material_0.png
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5be11c5e210d059cec2c9365cc801b6d7962c63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug.obj
@@ -0,0 +1,25336 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d202be3d31c58a5d4807d14113e6b09424898ab1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision.obj
@@ -0,0 +1,25314 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_0.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97fcd8da2146f84acfe4ab3b7df2497e74771ccb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_1.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e78f467081e641aed63a463791974cd5250aa3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_10.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5eb4d3708b0906435e9a739a462f52902bc1817
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_10.obj
@@ -0,0 +1,850 @@
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_11.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d5ac8b370894233d02ccc7ac02446c728f600b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_12.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3552a255869c1cca83b8c3f2066b52905540bd0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_13.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822d0b3bdf75f0ac01ee09b15d43914850c63fe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_14.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d5ab9a29a2d70aa670f793901a52001202d21b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_15.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0248e59c81f24720d9f5f054a90d64f9f6a28f78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_16.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4faf69100d2922f2bbec85a56b86ce55b8210a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_17.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38216b86dbc27d46fd22927db1a90acc5825e55a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00108641 -0.03229205 -0.01908321
+v -0.00197979 -0.03229205 -0.01920352
+v 0.00006183 -0.03229205 -0.01909415
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+v -0.00326887 -0.03229205 -0.01938125
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+v -0.00734406 -0.03229204 -0.02120233
+v -0.00545000 -0.03229205 -0.02030819
+v -0.00541378 -0.03229205 -0.02029179
+v 0.00006183 -0.02373279 -0.01346410
+v -0.00067728 -0.03229200 -0.03347681
+v -0.00015682 -0.02906886 -0.04139820
+v 0.00006183 -0.02906749 -0.04139820
+v -0.00545000 -0.03137138 -0.01346413
+v -0.00813683 -0.03229204 -0.02188044
+v -0.01364060 -0.02125474 -0.01346409
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+v -0.00940713 -0.03229204 -0.02310270
+v -0.01364060 -0.02957527 -0.01346412
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+v -0.00722870 -0.02856804 -0.04139819
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+
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_18.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8879b3fd0d91dc5648d0147a1d7674d79ec32d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_18.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00109675 -0.03224697 -0.01901821
+v 0.00109675 -0.03167884 -0.01345651
+v 0.00044424 -0.03168593 -0.01345651
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+
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_19.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f4e4f46c96afb2309f755c2d811b3f3285f3b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_19.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.01364060 -0.02142640 -0.05538836
+v -0.01199470 -0.02308181 -0.05539248
+v -0.01364060 -0.02308181 -0.05538150
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+v 0.00006183 -0.02527790 -0.05541445
+v 0.00006183 -0.02611909 -0.05525665
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_2.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f774ee2639553a2a0bb94bf7865f2f7c251c832
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_20.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe84a12a0ac4fb938dc2a994bde53a5487d7e44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_21.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc40d636ee28328e367abbc599bd433ef5f5ee2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_21.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_22.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6d09836c0f7bedb58f515760f3f5e806c6cd0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_22.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.02606675 -0.00878507 -0.04476963
+v 0.03542759 0.01043661 -0.04476956
+v 0.03804502 -0.00878507 -0.04476963
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_23.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836b3abbade7e92820dbd430978049d567da6c27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_24.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0029054746db63790d5e3c77d8e10751ec489551
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_25.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3063cf512530fcf50d62ebde69b4c1c6522a44b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_26.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbf6d806100e0014f4fa59c9acb9bbeb22e7aa8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_27.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510d18d6196e0f5336a3b7a41d4381f898fc1c1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_27.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_28.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80f69f392edf1519d54a691a787f11cb4b85a19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_28.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_29.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5f24c0db411d968d7689abbea4c482ad9e656e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_29.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_3.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c0c78ae798b6405d2469ff1367f987cc1c8484
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_30.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f26f3ba9f7695f8e860897998204da8a53578f76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_31.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a01052796e094bb2f8a385be17e0d92d6852090
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_31.obj
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+
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_32.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a0d08e4936d77a65edda8c13649ac009315fad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_32.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01132740 -0.03419828 0.03394094
+v -0.01116685 -0.03419828 0.03272338
+v -0.00985898 -0.04272537 0.03394091
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+v -0.00982107 -0.04272537 0.03383944
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+v -0.00791001 -0.04272539 0.03881450
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+v -0.00108637 -0.03419825 0.02502236
+v -0.00108637 -0.04272536 0.02877476
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+
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_33.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01afbc2b09456ad97b897e895c91738cbb8d2324
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_33.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.00109575 -0.05448783 -0.01345659
+v 0.00327742 -0.05455349 -0.01345659
+v 0.00029390 -0.05449513 -0.01345659
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+
diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_34.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba98f8e6ae9cd82c8c8f01884a416bc25c236381
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_34.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v -0.00326834 -0.04283743 -0.03169390
+v -0.00545019 -0.04285015 -0.03160290
+v -0.00545019 -0.04283743 -0.03160468
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_35.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa2282ce34d9f20c8cc021c92304330d5d830958
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_36.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7b47280d82fd6f9faeb18b917be3b9baef0013
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_36.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_4.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533148d90bc76f2d49b764413d0118d313bce803
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_4.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_5.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12917d87f3303ea7b6a33250cd8178c20d50945c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_5.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_6.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c336016333115dd550c554b5231f8b740b8d296c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_6.obj
@@ -0,0 +1,850 @@
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_7.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e0ececf16586175544e2fa16d0df5c17053af6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_8.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac377d414fcd4a5314946943f98686155e73845
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_9.obj b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1b228f2b839762556e740de3865130c8f7543a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/mjcf/mesh/coffee_mug_collision_9.obj
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