diff --git a/.gitattributes b/.gitattributes
index 0a32cabdf7281ebbea25eb8a956ecda150cd4073..1383176aa0b340bc54c9d674ff2aba8c905e21d8 100644
--- a/.gitattributes
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dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/mesh/mug_034.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/mug_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/coffee_cup_017.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/coffee_cup_017.urdf b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/coffee_cup_017.urdf
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017_collision.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946404ea5c63338da721f0207f14e8917b3d1d76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017_collision.obj
@@ -0,0 +1,29875 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5da3466ac1e5e00e02ae11e1151f717529836
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/coffee_cup_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca5961cb87edda38b17c8652baaf75e601eedd2e62e3f5ef2d98d432573cf87
+size 9508828
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/material.mtl b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c7eac6bd357f2dcde2c7f51823d3ff1c8821650
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_017_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/material_0.png b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5da3466ac1e5e00e02ae11e1151f717529836
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca5961cb87edda38b17c8652baaf75e601eedd2e62e3f5ef2d98d432573cf87
+size 9508828
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/coffee_cup_017.xml b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/coffee_cup_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..61437d736ad0d0706091e9c5fea8f9b7ba2a9dad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/coffee_cup_017.xml
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccade3149fbf016efca0855c58dd15355a2c3228
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88af7623052fbb74893585083899ffd0160eba4e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision.obj
@@ -0,0 +1,29875 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_0.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69705a75ee9fde087b5fc717f4902c79711980d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_1.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f0ed4f895937673c20dbc2642e3c970e06b2c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_1.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_10.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e321ba4f5b3848efb0a088d0d400ef88795dc2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_10.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_11.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df87b72cf6c765379ea8a33509feb01418c73849
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_12.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57b0c80a98144bc4d1fdce93a42acaab7fb907a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_12.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_13.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86afa5a4d35797d37978f13e3ae48cb9afc3e21b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_13.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_14.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c94341a3d697990a6f368a5ed51a977d3b2a90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_15.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7199fb29b6b63f096bed9130c1cbbfdcbe5eb86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_15.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_16.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb4e37fdc080eff05de75044335b21194c0200b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_16.obj
@@ -0,0 +1,826 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_17.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8f9e04fc0b434cb9ae04ef515004d1112cef91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_17.obj
@@ -0,0 +1,1339 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_18.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2392ec8ba7907f4e004cb33bc1fa8bead2173ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_19.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc7f9b8985d2babe133d5472e38b1acd918a0eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_2.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ea84f88a80228d7c0f0f1c0fd56581063a3773
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_2.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_20.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd205cce914de388a770944a19fea3bffab10594
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_20.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_21.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb8d11e787fe974ee6c4eeb035b2a17c11db49d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_21.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_22.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a13a63688fabfcad8866a5037a510bdba8b5388
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_23.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c546b68184be17213acdc95d98946033bb2938a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_23.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_24.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8fe83b23d17d0fa857ad019a244fd972740a47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_25.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6b3896b55bc5ea413cd138e6b6b6d5a6e2eabc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_25.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
+v -0.01833234 0.00621305 -0.03020747
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_26.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99adb4d0d1e4710c7fc2d7e1d9c1e13234767a15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_27.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dcfc1b644a2da80b9c2f11b89275ac8f9c285a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_27.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_28.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7ad973042d740b13f836cfb42c0a61ed7e1c9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_29.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e54dd6287648dd64dbac8b6ea301bbe1d5fd30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_3.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0203c1a9371e713dcd53dbb6577a4e02639a540c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_3.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_30.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f19c242806e4edc50389263f6c45e140b2ab879
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_30.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_31.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3baa3f49b059ef287d6af12ff5aafba84ccd950a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_31.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_32.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba791d0e745dce5b01119771586193ae01cbbcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_32.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_33.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb96b61d475731c990f02aaeb232eb9abf88454
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_34.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e403b07e436ac8d0ba41c3576ccd84095558fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_34.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_35.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb1b310869dc71ee360baf3997ea75ff224031e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_35.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_36.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f029c1677b3d55cbae14cabed578bccbf9ef6f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_36.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_37.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81a4fbfb744fc1e69773cdde78fa3bbb90b6132
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_37.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_38.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0c7199e2a7dcaecf8a0e520fc25882043e08f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_38.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_39.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c9aa3231f8f241e56577bfa3f7e0f7ec2a9f8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_4.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61fce21f713c9d6f145cd0f05c18c7fcdddd8ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_40.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3846342f727aceac7e9c6cd12ab473188c7f5169
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_40.obj
@@ -0,0 +1,856 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_41.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd97bb354fdda860c1615c49e1f2bcedf6ee1432
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_42.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c6a8eabf91515276594c1aba3c3bf6590437fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_43.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414346616625551eea34dfa1659bf805425e1e9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_44.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3049e4f96c63083ec247aa0bf4ed5570099fc993
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_44.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_45.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac885e1d9b5a7b465edd08d960cc6e19f022d5a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_45.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_46.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6a30fcc3f0fc4a59784183509f1c438913d4b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_46.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.00196897 -0.00667266 -0.02386235
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_47.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e08e3f2dede36ffb73c9793b78ca7082358747
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_48.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d356571046a8d5354fc2cb13032d594b217697e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_48.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_49.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0854218618ae76d4211383d576f7ea43d5c88a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_49.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_5.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14445c7415ed6a75941d64a994b2dcb707482a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_5.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_50.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f70574999950e64ca44af51d292b891e4ddb217
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_50.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_51.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c338032d88820b2b443e9f80a4cf953c29b97a42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_51.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_52.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd6ee4fcb657d319ab45020598a77eeceddcc7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_52.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_53.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5299eb2f4e0f7b0389af23109b29268d2defc4a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_53.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_54.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5c9dfc4fa95c53033df680f64ea3c75fafba7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_54.obj
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_55.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61900725ca8f28715eb79dff336718588e673c53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_55.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_56.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ce9fa3efe23b5455abf4e517c5d53c6bc75f4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_56.obj
@@ -0,0 +1,676 @@
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_57.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3548a54f793c3818ee7ecc8fa2d2aab1effc766
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_57.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_58.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b8ef99e0ca6cc57e1b450f0917ecdf04551922
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_58.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_59.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4115334f546b785e5449bead04d50446dabc26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_59.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+v -0.00069408 -0.00506162 -0.01623555
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_6.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1941bc84419b8a9b3f378b3120902334485507c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_60.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9357085f7041b1e6592b6b58e5159e2794b608
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_60.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_61.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b2bb3334adaba9fc96aad16b51e9917bdf667b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_61.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_62.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0d0edf1a057254d0f1b8c3d910e85eac454680
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_62.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_63.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b276c5706a42f834bb9bee2ddec7da48c0ec5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_63.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00069470 0.00506070 -0.01624816
+v -0.00069470 0.00001769 -0.01681508
+v -0.00069470 0.00506070 -0.01749733
+v -0.00869980 0.00506069 -0.01410061
+v -0.00069470 0.00001769 -0.01749735
+v -0.00869980 0.00001769 -0.01521247
+v -0.00869980 0.00506070 -0.01749733
+v -0.00869980 0.00001769 -0.01749735
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 6
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_64.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b9d936ac3397e3939b866a274a4cf703752a96f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_64.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00069532 0.00001718 -0.01681516
+v -0.00069532 -0.00522586 -0.01613797
+v -0.00069532 0.00001718 -0.01749735
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+v -0.00704176 -0.00522587 -0.01482102
+v -0.00069532 -0.00522586 -0.01749737
+v -0.00704176 0.00001718 -0.01749735
+v -0.00704176 -0.00522586 -0.01749737
+f 1 2 6
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+f 1 4 5
+f 1 5 2
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+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_65.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15581136aab1da838209c7ee7e2bd56b00c1e668
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_65.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02346698 -0.00252106 0.02228979
+v 0.02571377 -0.00250467 0.02345291
+v 0.02355235 -0.00251758 0.02237513
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+v 0.02628921 0.00128950 0.02173191
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+v 0.02355235 0.00254560 0.02129808
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+v 0.02346698 0.00156536 0.02422667
+v 0.02346698 0.00223641 0.02340704
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_66.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d058aa3e7231f4ba6785c50a093614804585de0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_66.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00850755 -0.00970795 -0.00769622
+v -0.00069470 -0.00970793 -0.01294558
+v 0.00850755 -0.00970794 -0.01209739
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+v -0.00069470 -0.00675457 -0.01500942
+v -0.00069470 -0.00970792 -0.01607159
+v 0.00790854 -0.00970793 -0.01264238
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+v 0.00850755 -0.00954010 -0.01223556
+v 0.00850755 -0.00506163 -0.01473212
+v -0.00069470 -0.00506162 -0.01749737
+v -0.00069470 -0.00827832 -0.01749738
+v -0.00036682 -0.00824557 -0.01749738
+v -0.00035151 -0.00970792 -0.01603705
+v 0.00785629 -0.00970793 -0.01268364
+v 0.00693211 -0.00970793 -0.01333321
+v 0.00665287 -0.00955191 -0.01364888
+v 0.00736988 -0.00917211 -0.01342051
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+v 0.00850755 -0.00914118 -0.01256081
+v 0.00850755 -0.00555741 -0.01454406
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+v -0.00028485 -0.00823375 -0.01749738
+v -0.00023080 -0.00970792 -0.01602361
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_67.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5d1cd501da6172d019e8d7f65913dc357e9f52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_67.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_68.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda25b7eec232d17553f6b89c6a5304d8479422b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_68.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+v -0.00704232 -0.00642746 -0.01749737
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_69.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50882a3d8317739bf4cc7e992f339594de6d287
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_69.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_7.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7d7772dec47a6469cd8423f86643f4da1ab5f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_7.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_70.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c25ec3ad87ec8e9f79705b77cd73e246f674e14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_70.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_71.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19e75efd01b049c6b90244b702d3e90c75b694b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_71.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_72.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ae50a773331dfb4818d4ef311d40bd1bb1abd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_72.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00069532 -0.01107388 -0.01170544
+v -0.00704176 -0.00522638 -0.01482101
+v -0.00704176 -0.01107388 -0.01064657
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+v -0.00069532 -0.00827863 -0.01749738
+v -0.00069532 -0.00522637 -0.01749737
+v -0.00704176 -0.00669011 -0.01749737
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_73.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af26ae86771b3263648d3d7ac1f1d4776af6d883
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_73.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00704232 -0.01107400 -0.01064670
+v -0.01277317 -0.01107402 -0.00565933
+v -0.00704232 -0.01107399 -0.01422500
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+
diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_8.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434b7528c912721e9130fb1eb2fe64ce6580f42d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_8.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.00029939 -0.02517274 0.02884352
+v 0.00085647 -0.02511538 0.02884352
+v 0.00193766 -0.02493354 0.02975742
+v 0.00029939 -0.02502263 0.02996050
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_9.obj b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb0a90e3a90fd826680d82d7bd78cacc21a4db9
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/mjcf/mesh/coffee_cup_017_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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