diff --git a/.gitattributes b/.gitattributes
index 879cfe9f882c27cf07356575ee0c7f68ecec7589..d27975b76bbb6b8ca8d8cfc7b967513f013df9d3 100644
--- a/.gitattributes
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dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/coffee_cup_015.urdf b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/coffee_cup_015.urdf
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015_collision.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe645595c2a5d4a9de9e433420ef99b74119a603
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc6d5378ab777fc15d818b21d9fc9290a00d3918
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/coffee_cup_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c5f499d9f2db284a0591c35edfa884487f93c028bd0166357a0ac17534d75e
+size 8127596
diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/material.mtl b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b512fa297b3612b081a7ffd80ba522acd6bdec98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_015_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/material_0.png b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc6d5378ab777fc15d818b21d9fc9290a00d3918
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c5f499d9f2db284a0591c35edfa884487f93c028bd0166357a0ac17534d75e
+size 8127596
diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/coffee_cup_015.xml b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/coffee_cup_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..964dcb70136c820bc787565c53251976dd2f67ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/coffee_cup_015.xml
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c93881b54302eab8a7fa9f5c17c946f9ee56064
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015.obj
@@ -0,0 +1,104630 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d16898c90e482ec93bb78b8ffdd1dc6f1c99e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision.obj
@@ -0,0 +1,16408 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_0.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d11db44481a062f93571e0ac5c83b68364e86cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_1.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046466ff5c85c74b4b1a929e2d6e362d7fca0ab7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_10.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60b8efea6f533de2002d850b3775a998f23153e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_11.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff107b3a7c9232c6c9887ed5bb36d13e592c0d76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_11.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_12.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97024c82131acab45c229a24bc6a970f6fbb80e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_12.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_13.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64373e3129f89402881992857b561bf3a6097c1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_13.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_14.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d3bf6e86f312de9c97d50de0c798c923c472c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_14.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_15.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd49655ac4377aea1228f86343ec344ced491176
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_16.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf2cdf8a00bd325931e43b5232730a73d759cf5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_17.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1969606b320bfa6e724080aa915f90372ae6b49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_18.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b3902be700f0b0272b14e7d39e06f1b25e1bc9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_19.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6f61f79f4f8ded447bcffe214dc3b4dcc8c138
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_19.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_2.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e7824d0ad5f2aee52c9a35a770e5e83272ec31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_2.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_20.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c22bfb98c213cda679b5efb0b01699a513a331
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_21.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2afe03fe64a9100b519cad4fd60165b656e8bd4e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_22.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2c7d4541da05b58876ed016868d1ff0ad61006
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_22.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_23.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d8202ebdb2b6ba7e9948eaf6fcd47258dbce19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_23.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_24.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017ef7b5f5240ce3c96d79fe21e728ff83693bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_25.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f944678553642a577d93b9cd91bb5c2f9e8328d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_25.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_26.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a51d0b3480c6682c4ea6af4370705a49c6a6ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_26.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_27.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a2f5e7af088bcb5e1260a1cf65c7b316acb844
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_27.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_28.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534406e4a1019fbcc8cc76c6252257ba303aad9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_29.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c4559d5cba02c634251b116e59896aaa1ff460
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_29.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_3.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03531b9b6ca9e4494ba644462e6536171147e15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_3.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_30.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88fa4050bcaf44813e3e525d054e418b87ff79d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_30.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_31.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019fe033ca07543ff172cc735245280cd18753da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_31.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_32.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c8284715d59cad91049b9f98e488dae0ca3d1c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_32.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_33.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ed4a64e919611649b8fdf61c7329b0ad4fa076
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_33.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_34.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2dbd6b3caf2fbfcbf2a1413d6ff04f16da8d0fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_35.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97753a47c6e716bb736053e8b01e5c8cbfc9e4c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_36.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335fd343468edf9a35aa756a57e77c031a54f345
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_36.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_37.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e2ea80453a5b21f75eb43a35ea5c975c9736c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_37.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_4.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e953780020edae304329a6a25b71cf6d9b33d2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_4.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_5.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f31d765c0211dcb721daed02dd774e90b1c0cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_5.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_6.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81896a63867df5f94c2477bbbc6d846e661e02e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_7.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391128c0025eb575f1ffdf6320a58a4638474c63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_8.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86782900e05019334d83b11fdc8709a598bda77a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_8.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_9.obj b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55a80316b37dc330e48c0b5df30075734b692eac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/mjcf/mesh/coffee_cup_015_collision_9.obj
@@ -0,0 +1,397 @@
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