diff --git a/.gitattributes b/.gitattributes
index 9a1c125de278dc471548665da835bc8650f2aebd..3979ad2c817b8caacdd6110460e486b4b0269d5e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4684,3 +4684,5 @@ dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_0
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dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/coffee_cup_037.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/coffee_cup_037.urdf b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/coffee_cup_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c59cbf68c6745474692fa2bd42c482ae42f2f
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/coffee_cup_037.usd b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/coffee_cup_037.usd
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037_collision.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a8817e0fc6f2ded31259744cfb154ef2f4a0f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d785f8dbdfef54dab824a8be94ca73edf96fe773
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/material.mtl b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0906eab6ab6650b709b5af52f290ec8bfcc0f919
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/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/4375c8100de3573ba421a335446a9089/mesh/material_0.png b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/coffee_cup_037.xml b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/coffee_cup_037.xml
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index 0000000000000000000000000000000000000000..633b3e7d1519be5665f4bd0cdbcbb3cbef4f8386
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037.obj
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index 0000000000000000000000000000000000000000..9399cb2884a840bc964e2b3c19aca054d5dafcd2
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a27eb13d9ea6983d3fc5c979801ab1eafb15c1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision.obj
@@ -0,0 +1,33031 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_037_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_0.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e14684b78afb0133b1c54767892a7f3b2768dfeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_1.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d2032cdc8522fa93040bf63ef51dae9ade46e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_10.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f5576f83841109c4cc68e8e9139c9a480c63e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_10.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_11.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6484b4215ee92fafe1efda5045ed78732827a59f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_11.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_12.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2a709f75f9f500d155092356343bc22fe83487
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_13.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc581bad28f63aab6d04ae8627551db8fc94435
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_13.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_14.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ebb15461ee7c32d2f1c4d5f6ccd13ae8dd06d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_14.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_15.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539f7631bcf081e8404c592e3fd65921399054d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_16.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3970b240cccf3d04701108aa7251da4d579dc2bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_17.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8e12a3998306ac7c1b34d7f68e8b9a3c30e7ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_18.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3811a612adba597d87c0cf860794fc4e559dae9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_18.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_19.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fb5127c8cdbd7a6102075a9a1e8467125993b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_19.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_2.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ef3596ab87023ca9b49df201d6fe34753ee133
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_2.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_20.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cac9b5d77c6e10e5a980cec9c6e0187ff7bd022
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_20.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_21.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6fc19a398eb9c3d17be5fdf817a6665e40fc78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_21.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_22.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddce48397c9ed11b5161206ab47b906d7c56695f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_23.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1206950828414669c054fffbf6bdfa66fc3705b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_23.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_24.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3def01bbe4c7956346f0143c2f5f9610c41bef4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_24.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_25.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36128c9c36fa46086fdeec5712b30ee41c240001
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_25.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_26.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a66ca9c205c883d983528c57b2a67c2d56d53d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_26.obj
@@ -0,0 +1,940 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_27.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9848d4cb20b4cc354a6e2da45fbcf435ccd7d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_28.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c181bdb81a4691d6332de65179ebfaba046c676
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_28.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_29.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015c1b52a8b24e4eb436805ecac34cb8d9469a1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_3.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435e1945db9c85ae976a74e6903c282fccf78b87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_30.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7450dd245bf84989c2753ed1aea51d5afa7bf66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_31.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31de8db81f62d7ecc877d1d08f675695716b57d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_32.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63f14cedba061ebf276713aa8e5cf583cdaaee7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_32.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_33.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3fd0d1d606d9d1a8771f66b93ab6472aea51a12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_33.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_34.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1068bb96dbfaa1ad8ee34c517d95cad822abbf07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_34.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_35.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406a6b425070400fc18231e3168053ecbafb98db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_35.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_36.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b19a9c582b1144b6836ee7ebfba00cab8bf5347
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_37.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d378722ad0344a4b01926c02f58487ef93167d98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_38.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d77ede41cfa153d9d71399f88ce1c2bd3717916d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_38.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_39.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0130fec1863b50cd9b3ea798e4d059cff7fe9c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_39.obj
@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_4.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af59072e96a5b9be6631a6dfbc5ef8bdfb3b965
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_4.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_40.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acafed9385b50c8f18ecdc6aa401ead6701db9d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_40.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_41.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04d2afae5956e5323c2c86a3576062d85db08df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_41.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04652699 0.00002329 -0.02707881
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+
diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_42.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e3be7bf74286cb12d83771708374e5560d5bf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_42.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.05037450 -0.03579139 0.04078887
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_43.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb3f0929a8fcc129babe528a57ac0b904695e8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_43.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_44.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b9f3578804f02303c9c31eb278e353b168b6ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_44.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_45.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc2023626afb8e74a0eb5eb8868ce8a73e4dbd26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_45.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_46.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db205869cf9e4dbac7103d29440657c882ec90ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_46.obj
@@ -0,0 +1,145 @@
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_47.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddeb0d0e3a7b48c4690f1373358971a7a3ead234
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_47.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_48.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377c7556682444b2c419654a01ecde433c223137
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_48.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_49.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a64bea50f83593598cc987f3932c69aec33af29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_49.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_5.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe0e8b0d456b972687b388be5001a3f9360a843
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_50.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7479c46885fb44d04bfb313d50ea6be395d269e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_50.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_51.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e50ac6e21e4b3c3759e61d1ef5c227446a8672
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_51.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05954343 0.03543875 -0.02073139
+v 0.05954343 0.03543879 -0.03142958
+v 0.04917217 0.03543876 -0.02454385
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+
diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_52.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8034ab0a4f2c00cc5b9706e0d2239fef1e38e0d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_52.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04523866 -0.01230281 -0.01157494
+v 0.04544010 -0.01230281 -0.01157494
+v 0.04523866 -0.01230286 0.00256119
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+
diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_6.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e65cc6cf4974eeb444c782d24677c4b4b3c5d1db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_6.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v 0.07954534 -0.00932201 0.03256000
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+v 0.07933188 -0.00892353 0.03531425
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_7.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d6903b8acd2cb7fc9dc519b00ce21da16b4d0d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_8.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2516a3ace29168d7eee2128e7d7705cdcc5fddff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_9.obj b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf643a33de14db4aa2f96076c6cbb72eaf3419d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mjcf/mesh/coffee_cup_037_collision_9.obj
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