diff --git a/LICENSES.md b/LICENSES.md
index 3935905014144effe6b62533cda9a990584ac5fc..469104edacedb792e3407b42f751ffd1b9527671 100644
--- a/LICENSES.md
+++ b/LICENSES.md
@@ -7,5 +7,7 @@ Assets are under their own licenses. This inventory is not redistribution cleara
 | data/object_data/dexgraspnet.tar.gz, dexgraspnet_official_splits | [DexGraspNet](https://github.com/PKU-EPIC/DexGraspNet) | CC BY-NC 4.0 for the dataset; object sources keep their own terms. |
 | data/object_data/objaverse_dex1b_v2.zip | Processed [Objaverse](https://objaverse.allenai.org/) meshes | Each model keeps its own license. |
 | data/object_data/dex_diffuser.zip, dex_diffuser_v2.zip | DexDiffuser object meshes | Object sources keep their own terms. |
+| data/object_data/hug_release | [HuG](https://xuanbinpeng.com/hug) grasp targets: YCB and other object meshes; collision parts authored for HuG | Object sources keep their own terms. |
 | data/isaac/appearance | Exported from robot assets; textured table | Robot assets keep their terms in `openrobokit/robokit`. |
-| data/scene_description, calib, policies | GraspKit | No license located. |
+| data/scene_description, calib, policies/skill | GraspKit | No license located. |
+| [policies/hug](policies/hug/NOTICE.md) | [HuG](https://xuanbinpeng.com/hug); the GR00T files from [GR00T-WholeBodyControl](https://github.com/NVlabs/GR00T-WholeBodyControl), unmodified | hug-grasp.onnx: MIT, [LICENSE](policies/hug/LICENSE). GR00T-*.onnx: NVIDIA Open Model License, [LICENSE-NVIDIA-OPEN-MODEL.txt](policies/hug/LICENSE-NVIDIA-OPEN-MODEL.txt), with its attribution notice. |
diff --git a/README.md b/README.md
index 125791a0f900c18f0cfbbe3fcc1bf0022a0b8903..e37e65ba066db692ab9e9608c73467969b478a60 100644
--- a/README.md
+++ b/README.md
@@ -18,9 +18,11 @@ calib/                 # camera and mount calibration per rig
 data/
   isaac/appearance/    # robot materials and table textures for Isaac
   object_data/         # object mesh archives and DexGraspNet splits
+    hug_release/       # HuG's 22 grasp targets, with their collision parts
   scene_description/   # Dex1B scene msgpacks
 policies/
   skill/               # ARX X5 open-loop generator and ranker
+  hug/                 # HuG grasp policy and GR00T lower-body policies for the G1
 ```
 
 ## Consuming
diff --git a/data/object_data/hug_release/aluminum_foil/aluminum_foil.stl b/data/object_data/hug_release/aluminum_foil/aluminum_foil.stl
new file mode 100644
index 0000000000000000000000000000000000000000..36dd146aca5f09a92716166ef448c1a551dfa75f
Binary files /dev/null and b/data/object_data/hug_release/aluminum_foil/aluminum_foil.stl differ
diff --git a/data/object_data/hug_release/aluminum_foil/collision/part_000.obj b/data/object_data/hug_release/aluminum_foil/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3692f08cde63170f021733b72e71d0193b3d6d77
--- /dev/null
+++ b/data/object_data/hug_release/aluminum_foil/collision/part_000.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/aluminum_foil/texture_map.png b/data/object_data/hug_release/aluminum_foil/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c7c37cebd7de4e9d0774e77a82a39501896f7a0
--- /dev/null
+++ b/data/object_data/hug_release/aluminum_foil/texture_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a418c3ac1f3219143f56f5f0e92294c6c5cf2b9c03a923bafed38c23c21acc84
+size 757651
diff --git a/data/object_data/hug_release/aluminum_foil/textured.mtl b/data/object_data/hug_release/aluminum_foil/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
+++ b/data/object_data/hug_release/aluminum_foil/textured.mtl
@@ -0,0 +1,2 @@
+newmtl material_0
+map_Kd texture_map.png
diff --git a/data/object_data/hug_release/aluminum_foil/textured.obj b/data/object_data/hug_release/aluminum_foil/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97dc511df9dda1c16d8ad3f062e545538953c1dd
--- /dev/null
+++ b/data/object_data/hug_release/aluminum_foil/textured.obj
@@ -0,0 +1,375 @@
+# Generated by scripts/tools/convert_ood_objects.py
+mtllib textured.mtl
+usemtl material_0
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diff --git a/data/object_data/hug_release/apple/apple.stl b/data/object_data/hug_release/apple/apple.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ac6bbdcfb1b3da6ccd76d4ab73c57badf26377d8
--- /dev/null
+++ b/data/object_data/hug_release/apple/apple.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:516ce4d58f7dc9e433ee094143ba97d3bf2eb7fe2d948d8f1190fbf772f740ec
+size 819284
diff --git a/data/object_data/hug_release/apple/collision/part_000.obj b/data/object_data/hug_release/apple/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8494bd625c6c25dabc48bcab011d894579eb16
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_000.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00363593 -0.00840798 0.02960388
+v 0.00363593 -0.00368381 0.02772134
+v -0.00166206 -0.00368381 0.02658932
+v -0.00166206 -0.00840798 0.02795900
+v 0.00363593 -0.00840798 -0.03428985
+v 0.00363593 -0.00368381 -0.02995564
+v -0.00166206 -0.00368381 -0.02866100
+v -0.00166206 -0.00840798 -0.03264498
+v 0.00363593 -0.00705742 -0.03317034
+v 0.00363593 -0.00554036 -0.03175062
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 9
+f 6 10 7
+f 7 10 9
+f 7 9 8
+
diff --git a/data/object_data/hug_release/apple/collision/part_001.obj b/data/object_data/hug_release/apple/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ec252d2931e1844f1ea8dba260d4de5e9a2bb0
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_001.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00524291 0.00495903 0.03060584
+v -0.00166206 0.00495903 0.02805982
+v 0.00524291 0.00131518 0.02929371
+v 0.00524291 0.00495903 -0.03088381
+v -0.00166206 0.00131518 0.02664537
+v -0.00166206 0.00495903 -0.02895173
+v 0.00524291 0.00131518 -0.02952353
+v 0.00524291 0.00263455 -0.03010737
+v -0.00166206 0.00131518 -0.02854846
+v 0.00524291 0.00240877 -0.03002912
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 9
+f 4 9 6
+f 7 9 10
+f 8 10 9
+
diff --git a/data/object_data/hug_release/apple/collision/part_002.obj b/data/object_data/hug_release/apple/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8634a30304de0870938f5110dec5d272cd03f2b8
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_002.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00363568 -0.00368334 -0.02995867
+v 0.00107171 -0.00368334 -0.02903037
+v 0.00107171 -0.00090666 -0.02918414
+v 0.00107171 -0.00043499 -0.02916705
+v 0.00107171 0.00050346 -0.02901898
+v 0.00154866 0.00082981 -0.02895634
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+v 0.00363568 -0.00368334 0.02772073
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+v 0.00107171 0.00077697 -0.02895634
+v 0.00107171 0.00119139 -0.02878549
+v 0.00107171 0.00131518 -0.02873423
+v 0.00126851 0.00131518 -0.02873993
+v 0.00363568 0.00131518 0.02822190
+v 0.00107171 0.00131518 0.02677536
+f 1 2 3
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+
diff --git a/data/object_data/hug_release/apple/collision/part_003.obj b/data/object_data/hug_release/apple/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b38c87218fcf71d330d01cb46c0209ec6288bf
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_003.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00166261 -0.00158644 0.02927890
+v -0.00238971 -0.00066825 0.02923683
+v -0.00273597 -0.00125371 0.02922481
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+v -0.00166261 0.00012914 0.02888825
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+v -0.00166261 -0.00123516 -0.02893472
+v -0.00166261 -0.00369250 -0.02866427
+f 1 2 3
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+
diff --git a/data/object_data/hug_release/apple/collision/part_004.obj b/data/object_data/hug_release/apple/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7bfb265ddf8a6acb9f7c46fdc2f01310f14f5b
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_004.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00107146 -0.00368334 -0.02902665
+v 0.00015074 -0.00368334 -0.02894646
+v -0.00071834 -0.00202271 -0.02908965
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+v 0.00107146 -0.00090666 -0.02918702
+v 0.00107146 -0.00368334 0.02623309
+v -0.00166206 -0.00368334 -0.02866008
+v -0.00090350 -0.00090127 -0.02919848
+v -0.00020272 -0.00036844 -0.02920420
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+v -0.00166206 -0.00156230 0.02927443
+f 1 2 3
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+f 34 43 44
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+f 34 42 43
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+
diff --git a/data/object_data/hug_release/apple/collision/part_005.obj b/data/object_data/hug_release/apple/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ebc022356a82977a6358a570065e2a0812b1791
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_005.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
+v -0.00488955 0.00172370 -0.02884555
+v -0.00488955 0.00939683 -0.03417063
+v -0.00166238 0.01049947 -0.03478480
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diff --git a/data/object_data/hug_release/apple/collision/part_006.obj b/data/object_data/hug_release/apple/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d0f0964b8dec1977631aad2cc0fa6e1f4dabd25
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_006.obj
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diff --git a/data/object_data/hug_release/apple/collision/part_007.obj b/data/object_data/hug_release/apple/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70c1acde0939f396fc6b97d86a9ec6cce63520e
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_007.obj
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diff --git a/data/object_data/hug_release/apple/collision/part_008.obj b/data/object_data/hug_release/apple/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c808d02ae62c9232319d54ef0af0a1997dcc1f00
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_008.obj
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diff --git a/data/object_data/hug_release/apple/collision/part_009.obj b/data/object_data/hug_release/apple/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c2339b2212b83dc1591b5c8cbc82d42adf213f
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_009.obj
@@ -0,0 +1,1399 @@
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diff --git a/data/object_data/hug_release/apple/collision/part_010.obj b/data/object_data/hug_release/apple/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42568c37883285c8563ad33ed31d598c19e41a89
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_010.obj
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diff --git a/data/object_data/hug_release/apple/collision/part_011.obj b/data/object_data/hug_release/apple/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c1cbc556b46a55877db6981c03fe5982b71708
--- /dev/null
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diff --git a/data/object_data/hug_release/apple/collision/part_012.obj b/data/object_data/hug_release/apple/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f73403f7a4883db5d20027c5f54eceabff2174
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_012.obj
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diff --git a/data/object_data/hug_release/apple/collision/part_013.obj b/data/object_data/hug_release/apple/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79122415ca7178e296585ebf583011509d6b2fc7
--- /dev/null
+++ b/data/object_data/hug_release/apple/collision/part_013.obj
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diff --git a/data/object_data/hug_release/bleach_cleanser/bleach_cleanser.stl b/data/object_data/hug_release/bleach_cleanser/bleach_cleanser.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2b623517ff6a8c1e228d9182007ccc8154a0be60
--- /dev/null
+++ b/data/object_data/hug_release/bleach_cleanser/bleach_cleanser.stl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf3e108a19c20f636dec8580dc32eaed4b6a87ac994ee2112e7fafd5052a78b
+size 819284
diff --git a/data/object_data/hug_release/bleach_cleanser/collision/part_000.obj b/data/object_data/hug_release/bleach_cleanser/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f526bcd1a45e1aa4d61341bb8c865c94095d52d9
--- /dev/null
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diff --git a/data/object_data/hug_release/bleach_cleanser/collision/part_001.obj b/data/object_data/hug_release/bleach_cleanser/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33822f76b50ca3ac1886f00d21ab48f2d8c8fec4
--- /dev/null
+++ b/data/object_data/hug_release/bleach_cleanser/collision/part_001.obj
@@ -0,0 +1,2080 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/bleach_cleanser/collision/part_002.obj b/data/object_data/hug_release/bleach_cleanser/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471ea49a0594f7c984f53fab0250dd702ecafa67
--- /dev/null
+++ b/data/object_data/hug_release/bleach_cleanser/collision/part_002.obj
@@ -0,0 +1,5674 @@
+# https://github.com/mikedh/trimesh
+v 0.02955300 0.01197457 0.11751094
+v 0.02949284 0.01041065 0.11401204
+v 0.02952292 0.01221313 0.11092968
+v 0.02949284 0.01363789 0.11574483
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diff --git a/data/object_data/hug_release/bleach_cleanser/texture_map.png b/data/object_data/hug_release/bleach_cleanser/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e28def28ef90edff49265c00e3a27e3504e6086
--- /dev/null
+++ b/data/object_data/hug_release/bleach_cleanser/texture_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9c728abb046ab555144b91b831cb68c21f4e9567e0f5f44f3149e0e8b9777a
+size 270131
diff --git a/data/object_data/hug_release/bleach_cleanser/textured.mtl b/data/object_data/hug_release/bleach_cleanser/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd584d49c4df107e359a80dfdf7ea1111cc970ed
--- /dev/null
+++ b/data/object_data/hug_release/bleach_cleanser/textured.mtl
@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
+
diff --git a/data/object_data/hug_release/bleach_cleanser/textured.obj b/data/object_data/hug_release/bleach_cleanser/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92009df97b67c4c8bac6404000534db96997ae1c
--- /dev/null
+++ b/data/object_data/hug_release/bleach_cleanser/textured.obj
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_000.obj b/data/object_data/hug_release/dish_brush/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf6e74d9e55302d506113d8de129ec0cb6efab0d
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/collision/part_000.obj
@@ -0,0 +1,1207 @@
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_001.obj b/data/object_data/hug_release/dish_brush/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63b38dd168cd7f389ec726ba3aee9c1790d44ce
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/collision/part_001.obj
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_002.obj b/data/object_data/hug_release/dish_brush/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8773c6480d16d48d5d9053022ad1003066c7a43
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/collision/part_002.obj
@@ -0,0 +1,736 @@
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_003.obj b/data/object_data/hug_release/dish_brush/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955dab3121e4f03192aa7aa8c314bd1ba65e5436
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/collision/part_003.obj
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_004.obj b/data/object_data/hug_release/dish_brush/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73bbe8c6d4f67a885526a982ed9d3e37eaacb8f1
--- /dev/null
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_005.obj b/data/object_data/hug_release/dish_brush/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b61c920df1db8cc8edebaad9e669c007c714ad3
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/collision/part_005.obj
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diff --git a/data/object_data/hug_release/dish_brush/collision/part_006.obj b/data/object_data/hug_release/dish_brush/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92755a0e1598609358b656f85ec268e46a0de132
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/collision/part_006.obj
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diff --git a/data/object_data/hug_release/dish_brush/dish_brush.stl b/data/object_data/hug_release/dish_brush/dish_brush.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6439e8e8b72a819089bf0ee8941696d733f60e2c
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/dish_brush.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74bdee67aac2c8588c6f6bf068fae470a12e65a537eb926af40f648fb2e75c8e
+size 241584
diff --git a/data/object_data/hug_release/dish_brush/texture_map.png b/data/object_data/hug_release/dish_brush/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d9a398ead0b4fd6b9a2d81da0f026993a4d02af
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/texture_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a2aeb95e11251c7b12026d9c91a0d27a70612497b3266a9b615c52d473932a
+size 162887
diff --git a/data/object_data/hug_release/dish_brush/textured.mtl b/data/object_data/hug_release/dish_brush/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/textured.mtl
@@ -0,0 +1,2 @@
+newmtl material_0
+map_Kd texture_map.png
diff --git a/data/object_data/hug_release/dish_brush/textured.obj b/data/object_data/hug_release/dish_brush/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7de2e1ecc5617337a3c6a39c34fc323fbf5ac2
--- /dev/null
+++ b/data/object_data/hug_release/dish_brush/textured.obj
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+mtllib textured.mtl
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diff --git a/data/object_data/hug_release/honey_bottle/collision/part_000.obj b/data/object_data/hug_release/honey_bottle/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8977c52d85c3060b9a5fa00a37cf2107f9dbfbd
--- /dev/null
+++ b/data/object_data/hug_release/honey_bottle/collision/part_000.obj
@@ -0,0 +1,19822 @@
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diff --git a/data/object_data/hug_release/honey_bottle/honey_bottle.stl b/data/object_data/hug_release/honey_bottle/honey_bottle.stl
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--- /dev/null
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diff --git a/data/object_data/hug_release/honey_bottle/texture_map.png b/data/object_data/hug_release/honey_bottle/texture_map.png
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--- /dev/null
+++ b/data/object_data/hug_release/honey_bottle/texture_map.png
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diff --git a/data/object_data/hug_release/honey_bottle/textured.mtl b/data/object_data/hug_release/honey_bottle/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
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diff --git a/data/object_data/hug_release/honey_bottle/textured.obj b/data/object_data/hug_release/honey_bottle/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b7c1ea7933bf2e5b7fe0c40166e54750c255b6
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_000.obj b/data/object_data/hug_release/master_chef_can/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9581c1fc9f18e7d887db5189a420d2523248bef0
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_000.obj
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_001.obj b/data/object_data/hug_release/master_chef_can/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..001ea445239ebcc1d572ace7f63f305e102bc9f4
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_001.obj
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_002.obj b/data/object_data/hug_release/master_chef_can/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d6c04cc2b5764999e691c6cb11c0c66fa4529b
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_002.obj
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_003.obj b/data/object_data/hug_release/master_chef_can/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb79527e3ddde59b588658187b2529b1a4cb65a
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_003.obj
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_004.obj b/data/object_data/hug_release/master_chef_can/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af73575cefc1c4728d894181d67358a1acaa34d2
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_004.obj
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_005.obj b/data/object_data/hug_release/master_chef_can/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e83026e4b9faec74aa14c471e40fffe7f6105d
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_005.obj
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diff --git a/data/object_data/hug_release/master_chef_can/collision/part_006.obj b/data/object_data/hug_release/master_chef_can/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adb560c58ab1e4a7b1033e3d9e2d643a30153d1
--- /dev/null
+++ b/data/object_data/hug_release/master_chef_can/collision/part_006.obj
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diff --git a/data/object_data/hug_release/master_chef_can/master_chef_can.stl b/data/object_data/hug_release/master_chef_can/master_chef_can.stl
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diff --git a/data/object_data/hug_release/master_chef_can/texture_map.png b/data/object_data/hug_release/master_chef_can/texture_map.png
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--- /dev/null
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diff --git a/data/object_data/hug_release/master_chef_can/textured.mtl b/data/object_data/hug_release/master_chef_can/textured.mtl
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index 0000000000000000000000000000000000000000..cd584d49c4df107e359a80dfdf7ea1111cc970ed
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diff --git a/data/object_data/hug_release/master_chef_can/textured.obj b/data/object_data/hug_release/master_chef_can/textured.obj
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diff --git a/data/object_data/hug_release/mustard_bottle/collision/part_000.obj b/data/object_data/hug_release/mustard_bottle/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227366e5382fc2872c47ac4cae9ab613716b15cc
--- /dev/null
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diff --git a/data/object_data/hug_release/mustard_bottle/collision/part_001.obj b/data/object_data/hug_release/mustard_bottle/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b1d5d3d55f47ccf0e51a51b9dca8d80aff0547
--- /dev/null
+++ b/data/object_data/hug_release/mustard_bottle/collision/part_001.obj
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diff --git a/data/object_data/hug_release/mustard_bottle/collision/part_002.obj b/data/object_data/hug_release/mustard_bottle/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9911358b152e39aa1e348ca6608ef163c719a30
--- /dev/null
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diff --git a/data/object_data/hug_release/mustard_bottle/mustard_bottle.stl b/data/object_data/hug_release/mustard_bottle/mustard_bottle.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c2975c466e0a5ca618676f2a8e4bbbfc268c814f
--- /dev/null
+++ b/data/object_data/hug_release/mustard_bottle/mustard_bottle.stl
@@ -0,0 +1,3 @@
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_000.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e18f0ca4fff441c78f5bf5500bb75486c228e7c
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_000.obj
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_001.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d84c364b74028d53e1ddea3481835f7f889581
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_001.obj
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_002.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f74d84be72a2707e862f54ac23e370d6bc9cbc
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_002.obj
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_003.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..725c451af9bc099494af1773b0c04adb5c3941da
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_003.obj
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_004.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab917c5dd660883cfa59e56d21f5f20a9aeb31f
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_004.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_005.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8109a5caa452cc407fcaab00300bd740462426
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/collision/part_005.obj
@@ -0,0 +1,820 @@
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/oil_and_vinegar_bottle.stl b/data/object_data/hug_release/oil_and_vinegar_bottle/oil_and_vinegar_bottle.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6f5010e7b11f453e07c4daf8abf2fde2204303a7
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/oil_and_vinegar_bottle.stl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/texture_map.png b/data/object_data/hug_release/oil_and_vinegar_bottle/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..501d0103b20d257d27fc99880e67cd0586dd8423
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/texture_map.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/textured.mtl b/data/object_data/hug_release/oil_and_vinegar_bottle/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
+++ b/data/object_data/hug_release/oil_and_vinegar_bottle/textured.mtl
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+newmtl material_0
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diff --git a/data/object_data/hug_release/oil_and_vinegar_bottle/textured.obj b/data/object_data/hug_release/oil_and_vinegar_bottle/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9310352f6db25c8813679948a8976cec9537c4ba
--- /dev/null
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+f 3437/3437/3437 4805/4805/4805 5011/5011/5011
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+f 3436/3436/3436 5025/5025/5025 5012/5012/5012
+f 5013/5013/5013 4994/4994/4994 5012/5012/5012
+f 5010/5010/5010 5026/5026/5026 5025/5025/5025
+f 5014/5014/5014 4998/4998/4998 5013/5013/5013
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+f 5028/5028/5028 4590/4590/4590 5016/5016/5016
+f 4973/4973/4973 5017/5017/5017 5019/5019/5019
+f 5016/5016/5016 4565/4565/4565 5018/5018/5018
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+f 4471/4471/4471 5022/5022/5022 5020/5020/5020
+f 5002/5002/5002 5000/5000/5000 5023/5023/5023
+f 4521/4521/4521 5024/5024/5024 5022/5022/5022
+f 5013/5013/5013 5012/5012/5012 5025/5025/5025
+f 5028/5028/5028 5016/5016/5016 5018/5018/5018
+f 5018/5018/5018 5020/5020/5020 5022/5022/5022
+f 5021/5021/5021 5019/5019/5019 5023/5023/5023
+f 5022/5022/5022 5024/5024/5024 5029/5029/5029
+f 5013/5013/5013 5025/5025/5025 5029/5029/5029
+f 5029/5029/5029 5015/5015/5015 5014/5014/5014
diff --git a/data/object_data/hug_release/peach/collision/part_000.obj b/data/object_data/hug_release/peach/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68325117bfa7d0948a88c985d5bff3962e160030
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_000.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01695783 -0.00960443 0.01027814
+v 0.01281406 -0.00960443 0.00909700
+v 0.01281730 -0.01194678 0.00965396
+v 0.01695783 -0.01194678 0.00788705
+v 0.01695783 -0.00960443 -0.01815573
+v 0.01281406 -0.01194220 0.00965076
+v 0.01281406 -0.00960443 -0.02233934
+v 0.01281406 -0.01194678 0.00964756
+v 0.01695783 -0.01194678 -0.01758276
+v 0.01691727 -0.01194678 -0.01764678
+v 0.01619325 -0.01194678 -0.01867428
+v 0.01586591 -0.01194678 -0.01909040
+v 0.01544853 -0.01194678 -0.01959294
+v 0.01465109 -0.01194678 -0.02055002
+v 0.01446694 -0.01194678 -0.02075488
+v 0.01403253 -0.01142695 -0.02124143
+v 0.01302944 -0.01072527 -0.02222091
+v 0.01281406 -0.00970808 -0.02235855
+v 0.01281406 -0.01194678 -0.02232334
+v 0.01332027 -0.01194678 -0.02188801
+v 0.01330080 -0.01194678 -0.02190722
+v 0.01281406 -0.01061658 -0.02242257
+v 0.01281406 -0.01031711 -0.02240656
+v 0.01281406 -0.01171564 -0.02235535
+v 0.01327889 -0.01194678 -0.02192642
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 7
+f 1 7 2
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+f 2 7 18
+f 2 18 23
+f 2 23 22
+f 2 22 24
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+f 21 24 22
+
diff --git a/data/object_data/hug_release/peach/collision/part_001.obj b/data/object_data/hug_release/peach/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300d5711a8687df2d468ba44c3de4ae8820bb96c
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_001.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02574258 -0.00637447 0.01481750
+v -0.02562621 -0.00687984 0.01481750
+v -0.02556274 -0.00637447 0.01512759
+v 0.00924298 -0.00637447 0.01481750
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+v -0.02541110 -0.00637447 0.01538468
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+v -0.02528768 -0.00788791 0.01491485
+v -0.02504083 -0.00788791 0.01532868
+v -0.02481866 -0.00788791 0.01567672
+v -0.02459297 -0.00788791 0.01601951
+v -0.02447660 -0.00711912 0.01654910
+v -0.02530531 -0.00637447 0.01554818
+v 0.00890092 -0.00788791 0.01865692
+v 0.00790647 -0.00788791 0.01481750
+v -0.02312598 -0.00637447 0.01865692
+v -0.02534410 -0.00788791 0.01481750
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+v -0.02362673 -0.00677613 0.01790595
+v -0.02393706 -0.00637447 0.01759587
+v -0.02269223 -0.00788791 0.01865692
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+v -0.02305193 -0.00669938 0.01865692
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+v -0.02295672 -0.00788791 0.01832880
+v -0.02280508 -0.00752803 0.01865692
+v -0.02371137 -0.00637447 0.01790370
+v -0.02283682 -0.00788791 0.01847877
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+f 1 23 26
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+f 27 32 34
+f 31 34 32
+
diff --git a/data/object_data/hug_release/peach/collision/part_002.obj b/data/object_data/hug_release/peach/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b3752924cc4c9813c155ca48e5e6fac0c74046
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_002.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.02497437 -0.01296788 -0.00046593
+v 0.02495771 -0.01296788 -0.00079561
+v 0.02492676 -0.01296788 0.00076377
+v 0.02436255 -0.01340521 0.00042420
+v 0.02399117 -0.01360722 -0.00091430
+v 0.02475892 -0.01296788 -0.00201212
+v 0.02488391 -0.01296788 0.00122531
+v 0.02438635 -0.01328418 0.00196379
+v 0.02299249 -0.01426653 0.00048024
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+v 0.02297463 -0.01426653 -0.00109892
+v 0.02264610 -0.01426653 -0.00285280
+v 0.02235805 -0.01426653 -0.00432646
+v 0.02473274 -0.01296788 -0.00212751
+v 0.02474464 -0.01296788 0.00203632
+v 0.02259254 -0.01426653 0.00256051
+v 0.02284846 -0.01426653 0.00156818
+v 0.02464227 -0.01296788 0.00245501
+v 0.02399117 -0.01320320 0.00344405
+v 0.02464227 -0.01296788 -0.00250334
+v 0.02181407 -0.01426653 -0.00655838
+v 0.02243423 -0.01426653 0.00293964
+v 0.02430898 -0.01296788 0.00343416
+v 0.02422685 -0.01296788 0.00362537
+v 0.02391380 -0.01296788 0.00420560
+v 0.02369358 -0.01296788 0.00459133
+v 0.02343648 -0.01331418 0.00411659
+v 0.02448753 -0.01296788 -0.00306380
+v 0.02165338 -0.01426653 -0.00713862
+v 0.02197952 -0.01426653 0.00376384
+v 0.02343052 -0.01296788 0.00493749
+v 0.02112964 -0.01426653 0.00499353
+v 0.02440064 -0.01296788 -0.00335721
+v 0.02101656 -0.01426653 -0.00941010
+v 0.02080230 -0.01426653 -0.01014528
+v 0.02293654 -0.01296788 0.00555399
+v 0.02062970 -0.01426653 0.00555728
+v 0.02421495 -0.01296788 -0.00392426
+v 0.02056185 -0.01426653 -0.01087387
+v 0.02057137 -0.01426653 0.00561992
+v 0.02177598 -0.01296788 0.00639137
+v 0.01281525 -0.01426653 0.01155743
+v 0.01773484 -0.01426653 0.00800020
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+v 0.01454240 -0.01426653 -0.02018068
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+v 0.01348183 -0.01296788 -0.02156203
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+
diff --git a/data/object_data/hug_release/peach/collision/part_003.obj b/data/object_data/hug_release/peach/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..341a123450e2af84f0eaa7676b2400d35a60a7e7
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_003.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.02618118 -0.01194678 -0.00049507
+v 0.02617726 -0.01194678 0.00025302
+v 0.02579781 -0.01232615 -0.00025426
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+v 0.02565519 -0.01234114 -0.00158991
+v 0.02600716 -0.01194678 -0.00226415
+v 0.02614062 -0.01194678 0.00051951
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+v 0.02485311 -0.01288910 -0.00214856
+v 0.02544714 -0.01231415 -0.00294802
+v 0.02593127 -0.01194678 -0.00269117
+v 0.02592865 -0.01194678 0.00183589
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diff --git a/data/object_data/hug_release/peach/collision/part_004.obj b/data/object_data/hug_release/peach/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f14b2f4419aecfa78df0423db28a35a28f43a8e
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_004.obj
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diff --git a/data/object_data/hug_release/peach/collision/part_005.obj b/data/object_data/hug_release/peach/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4098b6ba0e4dc39e2877f0f396b2e276edaf9b
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_005.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/peach/collision/part_006.obj b/data/object_data/hug_release/peach/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8113f5ed24187b4d73d81ca79374bc722e3760d4
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_006.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/peach/collision/part_007.obj b/data/object_data/hug_release/peach/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba688fa3bfab32da2539f68f9e61eeecd86a394a
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_007.obj
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diff --git a/data/object_data/hug_release/peach/collision/part_008.obj b/data/object_data/hug_release/peach/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7e785be8cb95dd41f5f5b3b9b5366d0a79e47a
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_008.obj
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diff --git a/data/object_data/hug_release/peach/collision/part_009.obj b/data/object_data/hug_release/peach/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1d350875e245087eb34bd442b633ae88c76b0e
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_009.obj
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diff --git a/data/object_data/hug_release/peach/collision/part_010.obj b/data/object_data/hug_release/peach/collision/part_010.obj
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index 0000000000000000000000000000000000000000..073df5148bccb7b56ba387b567571d5886d9e21c
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diff --git a/data/object_data/hug_release/peach/collision/part_011.obj b/data/object_data/hug_release/peach/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7cfd011961428b15757c9ada4504fdafc5681a
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_011.obj
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diff --git a/data/object_data/hug_release/peach/collision/part_012.obj b/data/object_data/hug_release/peach/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d17bef67e6edd159e55baeb74a9027c9a70fa53b
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diff --git a/data/object_data/hug_release/peach/collision/part_013.obj b/data/object_data/hug_release/peach/collision/part_013.obj
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index 0000000000000000000000000000000000000000..d6f6a1ca1a3a290d8278a9856ee841b89174d2e6
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diff --git a/data/object_data/hug_release/peach/collision/part_014.obj b/data/object_data/hug_release/peach/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa134d058966ebe46a9b00c56ec1536c845c3e86
--- /dev/null
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diff --git a/data/object_data/hug_release/peach/collision/part_015.obj b/data/object_data/hug_release/peach/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e388cbdd8552080894bd2bdf3e2589ef8f1d0e
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_015.obj
@@ -0,0 +1,4612 @@
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diff --git a/data/object_data/hug_release/peach/collision/part_016.obj b/data/object_data/hug_release/peach/collision/part_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd9d2b852beb68984921bd882c861f1e648539d9
--- /dev/null
+++ b/data/object_data/hug_release/peach/collision/part_016.obj
@@ -0,0 +1,7684 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/peach/peach.stl b/data/object_data/hug_release/peach/peach.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9719890169943e78ef28a2fb1f50902ad6c0e417
--- /dev/null
+++ b/data/object_data/hug_release/peach/peach.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7305ce2b09f648463ad92cc90f0b45577d56deacfde6119ea170ad77f147f9b6
+size 819284
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_000.obj b/data/object_data/hug_release/pitcher_base/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169573ec4362a4bf2bbea26ef4e790d734e30038
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_000.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.03592310 0.05855265 0.21799295
+v -0.03592162 0.05673407 0.21798526
+v -0.03592310 0.05855265 0.21872888
+v -0.03592310 0.05859740 0.21798430
+v -0.03589211 0.05855265 0.21798430
+v -0.03391792 0.05855265 0.21798430
+v -0.02084963 0.06423692 0.21798430
+v -0.02084963 0.07305817 0.22391014
+v -0.03592310 0.07305817 0.22779921
+v -0.03592310 0.07305817 0.21798430
+v -0.02084963 0.07305817 0.21798430
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 10 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 8
+f 8 11 10
+f 8 10 9
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_001.obj b/data/object_data/hug_release/pitcher_base/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85dc078bc607d820b05994239c7796dc4da77287
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_001.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.01428475 0.05855254 0.22079189
+v 0.01428475 0.05559155 0.22079189
+v 0.01428475 0.05855254 0.21798458
+v -0.01939250 0.05855254 0.22079189
+v 0.01428475 0.05332169 0.21998611
+v 0.00518415 0.04826009 0.22079189
+v 0.01428475 0.04827823 0.21798458
+v -0.02010529 0.05855254 0.21798458
+v -0.02199885 0.04826009 0.22079189
+v 0.00587894 0.04826009 0.21798458
+v -0.02249203 0.04826009 0.21798458
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 8 9
+f 5 6 7
+f 6 10 7
+f 6 9 11
+f 6 11 10
+f 8 11 9
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_002.obj b/data/object_data/hug_release/pitcher_base/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18889afc3fdfbbee95bb4227375bb86f679aa95f
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_002.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00048862 0.02964565 0.21397377
+v 0.00048862 0.00006651 0.22153612
+v 0.00048862 0.02964565 0.19420190
+v -0.00237726 0.02964565 0.22154684
+v 0.00048862 0.00006651 0.19420190
+v -0.00916413 0.00006651 0.22154684
+v -0.03591953 0.02964565 0.19420190
+v -0.02826648 0.02964565 0.22154684
+v -0.03591953 0.00006651 0.19420190
+v -0.03591953 0.00006651 0.22154684
+v -0.03591953 0.02964565 0.21486252
+v -0.03591953 0.01328389 0.22154684
+f 1 2 5
+f 1 5 3
+f 1 3 7
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+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
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+f 2 9 5
+f 3 5 9
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+f 4 12 10
+f 4 10 6
+f 7 9 10
+f 7 10 12
+f 7 12 11
+f 8 11 12
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_003.obj b/data/object_data/hug_release/pitcher_base/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5851b189a34b595531e5d1788048d5e745c81c3
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_003.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01428475 0.07305977 0.21798430
+v 0.01428475 0.04828023 0.21798430
+v 0.01428475 0.07305977 0.19419923
+v -0.03592310 0.07305977 0.21798430
+v 0.01428475 0.02964565 0.21646863
+v -0.00175168 0.02964565 0.21798430
+v 0.01428475 0.02964565 0.19419923
+v -0.03592310 0.07305977 0.19419923
+v -0.03592310 0.05673273 0.21798430
+v -0.02873791 0.02964565 0.21798430
+v -0.03592310 0.02964565 0.19419923
+v -0.03592310 0.02964565 0.21486216
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 7 11
+f 3 11 8
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 5 6 10
+f 5 10 12
+f 5 12 11
+f 5 11 7
+f 9 12 10
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_004.obj b/data/object_data/hug_release/pitcher_base/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d94b95ff87c4c128a9ab3db1d931aed2526939
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_004.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03163055 0.07306026 0.09971828
+v 0.03163055 0.07806243 0.09844207
+v 0.02871436 0.07306026 0.10501702
+v 0.03163055 0.07306026 0.07344978
+v 0.02334584 0.07806243 0.10120718
+v 0.02334584 0.07785774 0.10501702
+v 0.02391594 0.07744689 0.10501702
+v 0.02869895 0.07307886 0.10501702
+v 0.03163055 0.07806243 0.07558929
+v 0.02334584 0.07306026 0.10501702
+v 0.02334584 0.07306026 0.04110680
+v 0.02334584 0.07806243 0.07214229
+v 0.02334584 0.07327131 0.04234547
+v 0.02926986 0.07806243 0.07455707
+v 0.02345856 0.07806243 0.07218608
+f 1 2 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
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+f 2 12 5
+f 3 8 7
+f 3 7 6
+f 3 6 10
+f 4 11 9
+f 5 12 13
+f 5 13 11
+f 5 11 10
+f 5 10 6
+f 9 11 13
+f 9 13 14
+f 12 15 13
+f 13 15 14
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_005.obj b/data/object_data/hug_release/pitcher_base/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa5c4cf1ead2c4ec67be97a41ef2b186f94722c
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_005.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02334584 0.07305977 0.20136475
+v 0.02334584 0.08467872 0.20136475
+v 0.02882057 0.07305977 0.20136475
+v 0.02334584 0.07305977 0.21764268
+v 0.02882057 0.08642769 0.20794126
+v 0.02379653 0.08439646 0.20136475
+v 0.02334584 0.08653453 0.21764268
+v 0.02882057 0.08049226 0.20136475
+v 0.02882057 0.07305977 0.21764268
+v 0.02606927 0.08268705 0.20136475
+v 0.02386566 0.08434502 0.20136475
+v 0.02882057 0.08640131 0.20839382
+v 0.02532277 0.08525907 0.21764268
+v 0.02882057 0.08630107 0.20871572
+v 0.02882057 0.08257362 0.21764268
+v 0.02681363 0.08415772 0.21764268
+f 1 2 6
+f 1 6 11
+f 1 11 10
+f 1 10 8
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+f 4 13 7
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+f 5 7 12
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+f 7 14 12
+f 13 16 14
+f 14 16 15
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_006.obj b/data/object_data/hug_release/pitcher_base/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d65d7cb9fa56cf4c2e3bc2f790508979d48821
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_006.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.05455331 0.01502218 0.20977819
+v -0.05455331 0.01502218 0.19419924
+v -0.06246845 0.01502218 0.20977819
+v -0.05455331 -0.01165887 0.20977819
+v -0.06246845 0.01502218 0.19419924
+v -0.05455331 -0.01405570 0.19419924
+v -0.06246845 -0.00321874 0.20977819
+v -0.06246845 -0.01405570 0.20139925
+v -0.05493605 -0.01405570 0.20438084
+v -0.05459825 -0.01405570 0.20441897
+v -0.05455331 -0.01405570 0.20442354
+v -0.05529865 -0.01099277 0.20977819
+v -0.06246845 -0.00774766 0.19419924
+v -0.05610519 -0.01405570 0.19419924
+v -0.06179595 -0.00402148 0.20977819
+v -0.06246845 -0.01405570 0.19901551
+v -0.05663669 -0.00969188 0.20977819
+v -0.05858371 -0.00766511 0.20977819
+v -0.06113583 -0.00935598 0.19419924
+v -0.05956613 -0.01122050 0.19419924
+f 1 2 5
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+f 8 17 18
+f 8 18 15
+f 13 19 16
+f 14 16 20
+f 16 19 20
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_007.obj b/data/object_data/hug_release/pitcher_base/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9537e6bb1ef7b86221641337a4cfa723ef8086
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_007.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.06246846 0.01502218 0.20977819
+v -0.06246846 0.01502218 0.19419924
+v -0.06878112 0.01502218 0.20977819
+v -0.06246846 -0.00321874 0.20977819
+v -0.06878112 0.01502218 0.19419924
+v -0.06246846 -0.00774766 0.19419924
+v -0.06878112 -0.00660049 0.20977819
+v -0.06793757 -0.00622189 0.20977819
+v -0.06878112 -0.01405570 0.20519982
+v -0.06246846 -0.01405570 0.20139925
+v -0.06878112 0.00261106 0.19419924
+v -0.06246846 -0.01405570 0.19901551
+v -0.06439964 -0.01405570 0.20017002
+v -0.06726459 -0.01405570 0.20210081
+v -0.06801112 -0.01405570 0.20260562
+v -0.06266250 -0.00751424 0.19419924
+v -0.06860871 -0.00654640 0.20977819
+v -0.06878112 -0.01405570 0.20323548
+v -0.06716387 -0.00026968 0.19419924
+v -0.06806736 -0.01405570 0.20265137
+v -0.06506335 -0.00372828 0.19419924
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 17
+f 1 17 8
+f 1 8 4
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+f 1 10 12
+f 1 12 6
+f 1 6 2
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+f 2 21 19
+f 2 19 11
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+f 9 12 10
+f 11 19 18
+f 15 20 16
+f 16 20 18
+f 16 18 21
+f 18 19 21
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_008.obj b/data/object_data/hug_release/pitcher_base/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febaec65d7f87b0434971702ee90a254e051eafe
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_008.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.05455332 -0.01405973 0.22780936
+v -0.05455332 -0.01405973 0.22538700
+v -0.05568553 -0.01405973 0.22685504
+v -0.05761301 -0.02528537 0.22319803
+v -0.05578528 -0.02552982 0.22453200
+v -0.05455332 -0.02461017 0.22559782
+v -0.05487022 -0.01405973 0.22563664
+v -0.05455332 -0.02323010 0.22319803
+v -0.05640740 -0.02417348 0.22319803
+v -0.05700826 -0.02470985 0.22319803
+v -0.05568044 -0.01405973 0.22652460
+v -0.05728682 -0.02611246 0.22319803
+v -0.05558160 -0.01405973 0.22624833
+v -0.05455332 -0.02523790 0.22530755
+v -0.05455332 -0.02560221 0.22319803
+v -0.05645293 -0.02618129 0.22319803
+v -0.05455332 -0.02583004 0.22419388
+v -0.05455332 -0.02551202 0.22479653
+v -0.05455332 -0.02564848 0.22334881
+v -0.05466744 -0.02566153 0.22319803
+v -0.05590419 -0.02616942 0.22319803
+v -0.05561125 -0.02610297 0.22347701
+f 1 2 7
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+f 1 11 3
+f 1 3 4
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_009.obj b/data/object_data/hug_release/pitcher_base/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9800e56c84b68af9e3e686f4efc3c378ddf855
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_009.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03700966 0.08329593 0.21764268
+v 0.03700966 0.09419372 0.20931648
+v 0.02882136 0.08257492 0.21764268
+v 0.03700966 0.07306189 0.21764268
+v 0.03700966 0.09472387 0.20880655
+v 0.03685655 0.09459663 0.20886551
+v 0.03368785 0.09132030 0.20999373
+v 0.03173115 0.08943508 0.20976745
+v 0.03023939 0.08804396 0.20919059
+v 0.02882136 0.08630083 0.20871572
+v 0.02882136 0.07306189 0.21764268
+v 0.03700966 0.07306189 0.20444027
+v 0.03700966 0.09471539 0.20875715
+v 0.02882136 0.08642806 0.20794126
+v 0.02882136 0.08640050 0.20839382
+v 0.02882136 0.07306189 0.20136475
+v 0.03596117 0.07306189 0.20136475
+v 0.03700966 0.09426582 0.20831734
+v 0.02882136 0.08049461 0.20136475
+v 0.03474515 0.07460569 0.20136475
+v 0.02900814 0.08034404 0.20136475
+v 0.03292473 0.07659482 0.20136475
+v 0.03156763 0.07803683 0.20136475
+v 0.02971354 0.07973119 0.20136475
+f 1 2 3
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+f 1 5 2
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+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 9 14 15
+f 9 15 10
+f 12 17 18
+f 13 18 19
+f 13 19 14
+f 16 19 21
+f 16 21 24
+f 16 24 23
+f 16 23 22
+f 16 22 20
+f 16 20 17
+f 17 20 18
+f 18 21 19
+f 18 20 22
+f 18 22 23
+f 18 23 24
+f 18 24 21
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_010.obj b/data/object_data/hug_release/pitcher_base/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41be21c6a3ac9903ab6b1d7d2d6ab14bef77d75f
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_010.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03700966 0.07305977 0.20443881
+v 0.04741183 0.07968767 0.20917532
+v 0.04064508 0.07305977 0.20729821
+v 0.03700966 0.07305977 0.21207584
+v 0.03700966 0.08865412 0.20863858
+v 0.04741183 0.08865412 0.20553098
+v 0.04741183 0.07881759 0.20963880
+v 0.04146279 0.07305977 0.20815117
+v 0.03720518 0.07305977 0.21207584
+v 0.03700966 0.08331761 0.21207584
+v 0.03700966 0.08865412 0.21027124
+v 0.04741183 0.08865412 0.20820799
+v 0.04741183 0.07875195 0.20977411
+v 0.04554423 0.07668664 0.20958872
+v 0.04146686 0.07305977 0.20817509
+v 0.04131615 0.07305977 0.20868717
+v 0.04328864 0.07478620 0.20971057
+v 0.04497498 0.07684692 0.21031385
+v 0.04691183 0.07919768 0.21039533
+v 0.04603710 0.08865412 0.21207584
+v 0.03841087 0.08478454 0.21207584
+v 0.04253916 0.08865412 0.21207584
+v 0.04741183 0.08803132 0.20845543
+v 0.04666133 0.07801009 0.20984438
+v 0.04741183 0.07948465 0.21022190
+v 0.04741183 0.07966630 0.21026900
+v 0.04741183 0.08543939 0.20929344
+v 0.04741183 0.08731236 0.20871557
+v 0.04741183 0.08164613 0.21009182
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 12
+f 2 12 23
+f 2 23 28
+f 2 28 27
+f 2 27 29
+f 2 29 26
+f 2 26 25
+f 2 25 13
+f 2 13 7
+f 3 7 8
+f 4 9 20
+f 4 20 22
+f 4 22 21
+f 4 21 10
+f 5 11 22
+f 5 22 20
+f 5 20 12
+f 5 12 6
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 10 21 11
+f 11 21 22
+f 12 20 23
+f 13 18 24
+f 13 24 14
+f 13 25 18
+f 14 24 18
+f 14 18 17
+f 14 17 15
+f 15 17 16
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 20 27 28
+f 20 28 23
+f 20 26 29
+f 20 29 27
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_011.obj b/data/object_data/hug_release/pitcher_base/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7373a6ab316a34366fd9a1348ae61e1562f11f1a
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_011.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04635050 0.10274145 0.10106405
+v 0.04639542 0.10274058 0.10106405
+v 0.04424351 0.10101577 0.09725312
+v 0.04583795 0.10199592 0.10106405
+v 0.04729898 0.10271537 0.10106405
+v 0.04560414 0.10082287 0.09713251
+v 0.04451960 0.10016075 0.09570662
+v 0.04382211 0.10022593 0.09570662
+v 0.04332013 0.10013730 0.09570662
+v 0.04291591 0.09947431 0.09570662
+v 0.04583399 0.10189078 0.10106405
+v 0.04818537 0.10210366 0.10106405
+v 0.04519859 0.09970197 0.09570662
+v 0.04821311 0.10198114 0.10094396
+v 0.05042842 0.09722729 0.09795217
+v 0.04989210 0.09538518 0.09570662
+v 0.04302555 0.09901291 0.09570662
+v 0.04323427 0.09827868 0.09570662
+v 0.04865564 0.09386457 0.10106405
+v 0.04872830 0.10160229 0.10106405
+v 0.05214572 0.09837252 0.10106405
+v 0.05468203 0.09575882 0.10106405
+v 0.05550766 0.09455884 0.10069172
+v 0.05359882 0.09386457 0.09788609
+v 0.05133462 0.09386457 0.09570662
+v 0.04720254 0.09386457 0.09570662
+v 0.05641122 0.09386457 0.10106405
+v 0.05567674 0.09469873 0.10106405
+v 0.05629101 0.09400446 0.10106405
+v 0.05595680 0.09386457 0.10051709
+v 0.05502549 0.09386457 0.09944099
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 27
+f 1 27 29
+f 1 29 28
+f 1 28 22
+f 1 22 21
+f 1 21 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 5 6
+f 4 10 11
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 13 16
+f 7 16 25
+f 7 25 26
+f 7 26 18
+f 7 18 17
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 12 20 14
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 18 26 19
+f 19 26 25
+f 19 25 24
+f 19 24 31
+f 19 31 30
+f 19 30 27
+f 22 28 23
+f 23 28 29
+f 23 29 27
+f 23 27 30
+f 23 30 31
+f 23 31 24
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_012.obj b/data/object_data/hug_release/pitcher_base/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06fc4a5424c30cff5b4247e3d1236a4e5ef1244c
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_012.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00812435 -0.02596469 0.19420302
+v -0.00812435 0.00006397 0.19420302
+v 0.00049219 -0.02596469 0.19420302
+v -0.00812435 -0.02596469 0.22985559
+v 0.00049219 0.00006397 0.19420302
+v -0.00812435 0.00006397 0.22060981
+v 0.00049219 -0.02596469 0.22895717
+v -0.00356220 -0.02596469 0.22955611
+v -0.00566489 -0.02404088 0.23075401
+v -0.00812435 -0.02493781 0.23042042
+v 0.00049219 0.00006397 0.22153476
+v -0.00812435 -0.01435563 0.23193674
+v 0.00049219 -0.02447406 0.22991245
+v -0.00193269 -0.02272608 0.23110656
+v -0.00550970 -0.02047357 0.23219452
+v -0.00812435 -0.02343699 0.23109139
+v 0.00049219 -0.01191711 0.23062512
+v -0.00812435 -0.01462063 0.23207700
+v 0.00049219 -0.01389697 0.23202014
+v 0.00049219 -0.01350712 0.23180028
+v 0.00049219 -0.02320767 0.23058722
+v 0.00049219 -0.02131699 0.23145152
+v 0.00049219 -0.01906703 0.23225138
+v -0.00150253 -0.01867208 0.23252052
+v -0.00812435 -0.01917405 0.23262288
+v -0.00812435 -0.02048631 0.23224001
+v -0.00812435 -0.02123800 0.23198223
+v 0.00049219 -0.01489837 0.23251674
+v -0.00812435 -0.01600169 0.23270627
+v 0.00049219 -0.01797900 0.23254327
+v -0.00812435 -0.01789746 0.23289582
+v -0.00812435 -0.01722222 0.23292615
+v 0.00049219 -0.01634313 0.23271765
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 27
+f 1 27 26
+f 1 26 25
+f 1 25 31
+f 1 31 32
+f 1 32 29
+f 1 29 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 17
+f 3 17 20
+f 3 20 19
+f 3 19 28
+f 3 28 33
+f 3 33 30
+f 3 30 23
+f 3 23 22
+f 3 22 21
+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 12 11
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 12 17
+f 12 18 19
+f 12 19 20
+f 12 20 17
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 22 23
+f 18 28 19
+f 18 29 28
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 28 29 32
+f 28 32 33
+f 30 33 31
+f 31 33 32
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_013.obj b/data/object_data/hug_release/pitcher_base/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4230894b24b155870fc1ed1d583a775151b34abd
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_013.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02617999 0.08411942 0.23145101
+v 0.02831061 0.08247239 0.23141857
+v 0.02334718 0.08745073 0.23132937
+v 0.02334718 0.08708804 0.23136586
+v 0.02363474 0.08609187 0.23143614
+v 0.02334718 0.07306225 0.23131721
+v 0.03700966 0.07375037 0.23142803
+v 0.03363383 0.07773751 0.23139559
+v 0.02695975 0.08503112 0.23120369
+v 0.03291292 0.08013725 0.23112800
+v 0.03700966 0.09685094 0.22286775
+v 0.03700966 0.09817253 0.22220417
+v 0.03700966 0.09819986 0.22218795
+v 0.02334718 0.08750290 0.23128612
+v 0.02334718 0.08626825 0.23143209
+v 0.02334718 0.07306225 0.21764427
+v 0.03700966 0.07306225 0.23082933
+v 0.03700966 0.07325850 0.23117666
+v 0.03700966 0.07412797 0.23136992
+v 0.03529232 0.07762076 0.23114286
+v 0.03672076 0.07418014 0.23141316
+v 0.03700966 0.07604826 0.23105773
+v 0.03700966 0.09820731 0.22217579
+v 0.02334718 0.08853632 0.23034144
+v 0.03700966 0.07306225 0.21764427
+v 0.02334718 0.08653406 0.21764427
+v 0.03700966 0.09843834 0.22138652
+v 0.03421831 0.09671182 0.22257853
+v 0.02334718 0.09018583 0.22625050
+v 0.03700966 0.08329715 0.21764427
+v 0.02334718 0.09029762 0.22577614
+v 0.03700966 0.09806819 0.22094324
+v 0.02334718 0.09030010 0.22581668
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 24
+f 3 24 29
+f 3 29 33
+f 3 33 31
+f 3 31 26
+f 3 26 16
+f 3 16 6
+f 3 6 15
+f 3 15 4
+f 3 9 11
+f 4 15 5
+f 5 15 6
+f 6 16 25
+f 6 25 17
+f 6 17 18
+f 6 18 7
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 7 18 17
+f 7 17 25
+f 7 25 30
+f 7 30 32
+f 7 32 27
+f 7 27 23
+f 7 23 13
+f 7 13 12
+f 7 12 11
+f 7 11 22
+f 7 22 19
+f 8 21 20
+f 8 20 10
+f 9 10 11
+f 10 20 22
+f 10 22 11
+f 13 23 24
+f 13 24 14
+f 16 26 30
+f 16 30 25
+f 19 22 20
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 26 31 27
+f 26 27 32
+f 26 32 30
+f 27 31 33
+f 27 33 28
+f 28 33 29
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_014.obj b/data/object_data/hug_release/pitcher_base/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce4a3acfaed8f175622b0962e9621ede7921da2
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_014.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03163055 0.08796433 0.08210537
+v 0.03163055 0.08630627 0.08157543
+v 0.03163055 0.08860959 0.08180575
+v 0.02334584 0.08050926 0.07447442
+v 0.02685728 0.08345061 0.07778484
+v 0.02554353 0.08124640 0.07642339
+v 0.02850351 0.08421357 0.07910530
+v 0.03163055 0.07806243 0.07845532
+v 0.03163055 0.08860443 0.08172573
+v 0.03154378 0.08853216 0.08170621
+v 0.02334584 0.07880474 0.07432510
+v 0.02334584 0.08054746 0.07406549
+v 0.02334584 0.07806243 0.07401474
+v 0.03163055 0.07806243 0.07559090
+v 0.03163055 0.08805828 0.08071659
+v 0.03043196 0.08738411 0.08031353
+v 0.02644450 0.08354146 0.07677278
+v 0.02340666 0.08060114 0.07409868
+v 0.02334584 0.08051132 0.07398839
+v 0.02334584 0.07806243 0.07213604
+v 0.02926986 0.07806243 0.07456225
+v 0.03163055 0.07916505 0.07604374
+v 0.03163055 0.08797672 0.08065316
+v 0.02901198 0.08579110 0.07845337
+v 0.02502776 0.08187514 0.07490871
+v 0.02334584 0.08022018 0.07344186
+v 0.02334584 0.07886978 0.07249812
+v 0.03118696 0.07981341 0.07612475
+v 0.03163055 0.07973082 0.07629066
+v 0.03163055 0.08649004 0.07966159
+v 0.02958938 0.08404838 0.07753012
+v 0.02563355 0.08052991 0.07418163
+v 0.03163055 0.08015514 0.07648195
+v 0.03163055 0.08605333 0.07938833
+v 0.03163055 0.08401431 0.07838310
+f 1 2 8
+f 1 8 14
+f 1 14 22
+f 1 22 29
+f 1 29 33
+f 1 33 35
+f 1 35 34
+f 1 34 30
+f 1 30 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 8
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 19
+f 4 19 26
+f 4 26 27
+f 4 27 20
+f 4 20 13
+f 4 13 11
+f 5 11 6
+f 6 11 8
+f 8 11 13
+f 8 13 20
+f 8 20 21
+f 8 21 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 12
+f 12 17 18
+f 12 18 19
+f 14 21 22
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 18
+f 18 25 19
+f 18 24 25
+f 19 25 26
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 22 28 29
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 27
+f 24 27 25
+f 25 27 26
+f 27 32 28
+f 28 32 31
+f 28 31 33
+f 28 33 29
+f 30 34 31
+f 31 34 35
+f 31 35 33
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_015.obj b/data/object_data/hug_release/pitcher_base/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f27ddce56d19a5c5533181e73ad4bed35799a1
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_015.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04741183 0.08865542 0.20553032
+v 0.04741183 0.09679927 0.19697101
+v 0.04741183 0.08865542 0.20820649
+v 0.03700966 0.08865542 0.20863822
+v 0.04468782 0.10036790 0.19697101
+v 0.04741183 0.10031588 0.19697101
+v 0.04741183 0.08995594 0.21207437
+v 0.04644035 0.08903257 0.21207437
+v 0.04627029 0.08887261 0.21207437
+v 0.04603710 0.08865542 0.21207437
+v 0.03700966 0.08865542 0.21027054
+v 0.03700966 0.09426846 0.20831590
+v 0.04461144 0.10092842 0.19697101
+v 0.04679575 0.10095703 0.19697101
+v 0.04741183 0.10022094 0.19719132
+v 0.04741183 0.09337371 0.21207437
+v 0.04253916 0.08865542 0.21207437
+v 0.03700966 0.09128377 0.21026315
+v 0.03700966 0.09471584 0.20875503
+v 0.04474586 0.10178026 0.19697101
+v 0.04598109 0.10176206 0.19697101
+v 0.04042512 0.09753277 0.20690093
+v 0.03872248 0.09614641 0.20815474
+v 0.03700966 0.09419563 0.20931392
+v 0.03700966 0.09384319 0.20958450
+v 0.03700966 0.09131889 0.21025723
+v 0.04695969 0.09294063 0.21207437
+v 0.04471022 0.10068393 0.20093500
+v 0.04389454 0.10002066 0.20294138
+v 0.04304832 0.09949915 0.20434600
+v 0.03700966 0.09472495 0.20880530
+v 0.04468884 0.10186090 0.19739980
+v 0.04485177 0.10194023 0.19697101
+v 0.04554423 0.10184269 0.19697101
+v 0.04198315 0.09922604 0.20426617
+v 0.04329781 0.10040561 0.20224943
+f 1 2 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 17
+f 1 17 11
+f 1 11 4
+f 1 4 2
+f 2 5 13
+f 2 13 20
+f 2 20 33
+f 2 33 34
+f 2 34 21
+f 2 21 14
+f 2 14 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 18
+f 4 18 26
+f 4 26 25
+f 4 25 24
+f 4 24 31
+f 4 31 19
+f 4 19 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 7 16 27
+f 7 27 17
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 11 17 18
+f 12 19 20
+f 12 20 13
+f 14 21 16
+f 14 16 15
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 21 28
+f 16 28 29
+f 16 29 30
+f 16 30 22
+f 17 27 26
+f 17 26 18
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 34 32
+f 21 32 28
+f 22 30 35
+f 22 35 23
+f 23 31 24
+f 23 35 31
+f 28 32 36
+f 28 36 29
+f 29 36 30
+f 30 36 35
+f 31 35 32
+f 32 35 36
+f 32 34 33
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_016.obj b/data/object_data/hug_release/pitcher_base/collision/part_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c31232d5ead6a625a3bb976a0fea12a2865b37
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_016.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.06878174 0.00190227 0.20288787
+v -0.06878174 0.00261247 0.19419924
+v -0.06878174 0.00190227 0.22706166
+v -0.07404412 0.00190227 0.22743864
+v -0.06937778 0.00366427 0.19419924
+v -0.06878174 0.01502090 0.19419924
+v -0.06878174 0.00195621 0.22711192
+v -0.07222056 0.00190227 0.22807413
+v -0.07383171 0.00190227 0.22780845
+v -0.07657734 0.01384966 0.23061969
+v -0.07715775 0.01502090 0.23031810
+v -0.07719233 0.01502090 0.23021398
+v -0.07413468 0.01502090 0.19419924
+v -0.07342666 0.01283253 0.19419924
+v -0.07238357 0.01014074 0.19419924
+v -0.07199499 0.00914417 0.19419924
+v -0.07156606 0.00820409 0.19419924
+v -0.07052708 0.00594253 0.19419924
+v -0.06878174 0.01502090 0.23087461
+v -0.06878174 0.00241341 0.22733812
+v -0.07221480 0.00191897 0.22808132
+v -0.07223620 0.00190227 0.22807772
+v -0.07334187 0.00190227 0.22821774
+v -0.07412727 0.00829527 0.23004882
+v -0.07539759 0.01167157 0.23048325
+v -0.07684161 0.01502090 0.23082793
+v -0.07552437 0.01316772 0.23071304
+v -0.06878174 0.01428759 0.23075971
+v -0.06878174 0.00424475 0.22821415
+v -0.06878174 0.00662318 0.22906148
+v -0.07283802 0.00329184 0.22865577
+v -0.07282979 0.00542369 0.22935230
+v -0.07328094 0.00783808 0.22989085
+v -0.06878174 0.01219555 0.23042221
+v -0.06878174 0.00672335 0.22909379
+v -0.06878174 0.00693525 0.22915123
+v -0.06878174 0.01030256 0.23003087
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+f 1 6 19
+f 1 19 28
+f 1 28 34
+f 1 34 37
+f 1 37 36
+f 1 36 35
+f 1 35 30
+f 1 30 29
+f 1 29 20
+f 1 20 7
+f 1 7 3
+f 1 3 8
+f 1 8 22
+f 1 22 23
+f 1 23 9
+f 1 9 4
+f 1 4 2
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+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 6
+f 2 4 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 6 13 12
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+f 6 11 26
+f 6 26 19
+f 7 20 21
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+f 8 21 22
+f 9 23 10
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 10 23 24
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+f 19 27 24
+f 19 24 28
+f 20 29 21
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+f 21 31 23
+f 21 23 22
+f 23 31 32
+f 23 32 24
+f 24 33 34
+f 24 34 28
+f 24 27 25
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+f 25 27 26
+f 30 35 32
+f 30 32 31
+f 32 35 36
+f 32 36 37
+f 32 37 33
+f 33 37 34
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_017.obj b/data/object_data/hug_release/pitcher_base/collision/part_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705ff132670ea570ce910d5b4a6bd4e971100c69
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_017.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03596176 0.07305977 0.20136475
+v 0.03474289 0.07460641 0.20136475
+v 0.02334584 0.07305977 0.20136475
+v 0.03518253 0.07305977 0.18724645
+v 0.03292510 0.07659657 0.20136475
+v 0.03474536 0.07305977 0.17972989
+v 0.03400812 0.07381717 0.17823036
+v 0.02334584 0.08467773 0.20136475
+v 0.02334584 0.07305977 0.14096823
+v 0.03156669 0.07803630 0.20136475
+v 0.03124190 0.07733463 0.18580350
+v 0.03460212 0.07305977 0.17764563
+v 0.03103814 0.07701620 0.17810776
+v 0.02869921 0.07308024 0.10501702
+v 0.02379659 0.08439570 0.20136475
+v 0.02334584 0.08461291 0.19941252
+v 0.02334584 0.07943168 0.14096823
+v 0.02334708 0.07305977 0.10501702
+v 0.02971308 0.07972964 0.20136475
+v 0.02863870 0.07951925 0.18153123
+v 0.02871526 0.07305977 0.10501702
+v 0.02744206 0.08012539 0.17510868
+v 0.02391637 0.07744721 0.10501702
+v 0.02607131 0.08268530 0.20136475
+v 0.02417200 0.08364172 0.19093400
+v 0.02334584 0.08403293 0.18657685
+v 0.02334584 0.08124784 0.14798494
+v 0.02334708 0.07785889 0.10501702
+v 0.02900917 0.08034261 0.20136475
+v 0.02619233 0.08182442 0.18569033
+v 0.02511177 0.08225202 0.17823036
+v 0.02474253 0.07950333 0.13935552
+v 0.02334708 0.08011630 0.13364029
+v 0.02339153 0.08122282 0.14808868
+v 0.02334584 0.08366560 0.17968275
+v 0.02334584 0.08258409 0.16514004
+v 0.02334584 0.08336651 0.17543876
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 29
+f 1 29 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 21
+f 1 21 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 16
+f 3 16 26
+f 3 26 35
+f 3 35 37
+f 3 37 36
+f 3 36 27
+f 3 27 17
+f 3 17 9
+f 5 7 11
+f 5 11 10
+f 6 12 7
+f 7 13 11
+f 7 12 14
+f 7 14 13
+f 8 15 16
+f 9 17 28
+f 9 28 18
+f 10 11 20
+f 10 20 19
+f 11 13 20
+f 12 21 14
+f 13 22 20
+f 13 14 22
+f 14 21 18
+f 14 18 28
+f 14 28 23
+f 14 23 22
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 19 20 29
+f 20 30 29
+f 20 22 30
+f 22 31 30
+f 22 23 32
+f 22 32 31
+f 23 28 33
+f 23 33 27
+f 23 27 34
+f 23 34 32
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 25 31 35
+f 25 35 26
+f 27 36 34
+f 27 33 28
+f 31 32 34
+f 31 34 36
+f 31 36 37
+f 31 37 35
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_018.obj b/data/object_data/hug_release/pitcher_base/collision/part_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bdff470a4eacec484b53163717a152614cd075
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_018.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.06153334 0.06467281 0.06996835
+v -0.06224748 0.06467281 0.08211797
+v -0.06147213 0.06476969 0.06996835
+v 0.03271206 0.06467281 0.06996835
+v -0.06142112 0.06594543 0.08211797
+v 0.03344659 0.06467281 0.08211797
+v -0.06132930 0.06498152 0.06996835
+v 0.03151843 0.06644216 0.06996835
+v 0.04011865 0.07305977 0.07755190
+v 0.04065936 0.07305977 0.07795867
+v 0.04185298 0.07305977 0.07904459
+v 0.03960856 0.07061634 0.07692152
+v 0.03333437 0.06467281 0.07093057
+v -0.06134971 0.06600208 0.08162794
+v -0.06122728 0.06620488 0.08211797
+v 0.03387508 0.06467281 0.07213542
+v 0.04195500 0.07305977 0.07987240
+v 0.04168976 0.07305977 0.08008649
+v 0.03039622 0.07304745 0.08211797
+v -0.06059477 0.06645447 0.07488053
+v -0.05887064 0.06828786 0.06996835
+v 0.03118177 0.06692904 0.06996835
+v 0.02979431 0.06879445 0.06996835
+v 0.02669292 0.07209668 0.06996835
+v 0.02566253 0.07305977 0.06996835
+v 0.04197541 0.07305977 0.07928484
+v -0.05859519 0.06962370 0.08211797
+v 0.02989632 0.07305977 0.08211797
+v -0.05878902 0.06842169 0.07028711
+v -0.05873802 0.06846110 0.06996835
+v -0.05447361 0.07305977 0.06996835
+v -0.05829933 0.06995951 0.08211797
+v -0.05546320 0.07305977 0.08211797
+v -0.05593249 0.07260327 0.08211797
+v -0.05562643 0.07190209 0.06996835
+v -0.05471846 0.07305977 0.07281337
+v -0.05581006 0.07272642 0.08211797
+v -0.05523875 0.07260162 0.07358410
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+f 1 7 21
+f 1 21 30
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+f 1 31 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 8
+f 1 8 4
+f 1 4 13
+f 1 13 16
+f 1 16 6
+f 1 6 2
+f 2 5 3
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+f 2 19 28
+f 2 28 33
+f 2 33 37
+f 2 37 34
+f 2 34 32
+f 2 32 27
+f 2 27 15
+f 2 15 5
+f 3 5 7
+f 4 8 9
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+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 7
+f 5 15 14
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 7 14 20
+f 7 20 21
+f 8 22 9
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+f 9 24 25
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+f 9 31 36
+f 9 36 33
+f 9 33 28
+f 9 28 18
+f 9 18 17
+f 9 17 26
+f 9 26 11
+f 9 11 10
+f 11 26 12
+f 12 26 16
+f 12 16 13
+f 14 15 20
+f 15 27 20
+f 16 26 17
+f 18 28 19
+f 20 27 29
+f 20 29 21
+f 21 29 30
+f 27 30 29
+f 27 32 30
+f 30 32 34
+f 30 34 35
+f 31 35 36
+f 33 36 37
+f 34 37 38
+f 34 38 35
+f 35 38 36
+f 36 38 37
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_019.obj b/data/object_data/hug_release/pitcher_base/collision/part_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e64913304e634f1cbb6a0fb2eab59f8d304421b
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_019.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03700966 0.07305977 0.21207650
+v 0.03720518 0.07305977 0.21207650
+v 0.03700966 0.07305977 0.21298131
+v 0.03700966 0.08332128 0.21207650
+v 0.03801271 0.07305977 0.21738556
+v 0.04741183 0.08995477 0.21207650
+v 0.03701272 0.07305977 0.21883776
+v 0.03700966 0.07315348 0.21883776
+v 0.03700966 0.08360911 0.21883776
+v 0.04097297 0.10119022 0.21883776
+v 0.04741183 0.10697027 0.21208577
+v 0.03841087 0.08478721 0.21207650
+v 0.03821026 0.07305977 0.21883776
+v 0.04741183 0.08994139 0.21617893
+v 0.04741183 0.09337193 0.21207650
+v 0.04182939 0.10245534 0.21883776
+v 0.04741183 0.10719115 0.21241803
+v 0.04741183 0.08996482 0.21883776
+v 0.04206869 0.10262602 0.21883776
+v 0.04594545 0.10592270 0.21518012
+v 0.04434770 0.10462411 0.21615046
+v 0.04741183 0.10724806 0.21278671
+v 0.04741183 0.09942976 0.21883776
+v 0.04283956 0.10276660 0.21883776
+v 0.04349638 0.10378404 0.21785484
+v 0.04741183 0.10686316 0.21387024
+v 0.04524891 0.10447350 0.21712874
+v 0.04698108 0.09984143 0.21883776
+v 0.04741183 0.10188637 0.21767150
+v 0.04737925 0.10192988 0.21766687
+v 0.04332734 0.10273982 0.21883776
+v 0.04741183 0.10590261 0.21498950
+v 0.04708699 0.10539389 0.21562757
+v 0.04472753 0.10216081 0.21872391
+v 0.04490472 0.10175584 0.21883776
+v 0.04741183 0.10191314 0.21765760
+v 0.04741183 0.10504247 0.21566132
+v 0.04447703 0.10211061 0.21883776
+v 0.04741183 0.10523324 0.21553159
+f 1 2 5
+f 1 5 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 15
+f 1 15 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
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+f 5 6 13
+f 6 14 13
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+f 6 11 17
+f 6 17 22
+f 6 22 26
+f 6 26 32
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+f 6 23 18
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+f 7 13 18
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+f 7 23 28
+f 7 28 35
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+f 7 38 31
+f 7 31 24
+f 7 24 19
+f 7 19 16
+f 7 16 10
+f 7 10 9
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+f 10 17 11
+f 11 15 12
+f 13 14 18
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+f 16 20 21
+f 16 21 17
+f 17 21 22
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+f 20 26 22
+f 20 22 21
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+f 28 30 34
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+f 29 36 30
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+f 30 37 33
+f 31 38 34
+f 32 33 39
+f 33 37 39
+f 34 38 35
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_020.obj b/data/object_data/hug_release/pitcher_base/collision/part_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9ee06df0f855a8fc7dcfaf987c9f6ce03d4545
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_020.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.06224252 0.06467281 0.08211797
+v -0.06258932 0.06467281 0.08681059
+v -0.06218133 0.06477051 0.08211797
+v 0.03344153 0.06467281 0.08211797
+v -0.06341550 0.06467281 0.09928524
+v -0.06322170 0.06569911 0.10602811
+v -0.06235472 0.06520813 0.08842785
+v -0.06141634 0.06594543 0.08211797
+v 0.03040200 0.07304745 0.08211797
+v 0.04034678 0.07305977 0.09676223
+v 0.03497150 0.06467281 0.09844970
+v -0.06385409 0.06467281 0.10602811
+v -0.06215073 0.06724924 0.10602811
+v -0.06123275 0.06620488 0.08211797
+v 0.02990221 0.07305977 0.08211797
+v 0.04030598 0.07305977 0.09692372
+v 0.03533869 0.06467281 0.10602811
+v -0.06172234 0.06784368 0.10602811
+v -0.06197733 0.06739950 0.10506852
+v -0.06075336 0.06840281 0.09814076
+v -0.05939679 0.06938231 0.08978064
+v -0.05859100 0.06962370 0.08211797
+v -0.05546987 0.07305977 0.08211797
+v 0.03993879 0.07305977 0.09743160
+v 0.03416572 0.06641999 0.10602811
+v -0.05945799 0.07074278 0.10602811
+v -0.05927439 0.07095708 0.10602811
+v -0.05789742 0.07185283 0.09811735
+v -0.05829521 0.06995951 0.08211797
+v -0.05580647 0.07272642 0.08211797
+v -0.05635725 0.07305977 0.09300579
+v 0.03152398 0.06983717 0.10602811
+v 0.03342113 0.06745697 0.10602811
+v 0.03391072 0.06679439 0.10602811
+v 0.02878024 0.07305977 0.10602811
+v -0.05907039 0.07118697 0.10602811
+v -0.05736703 0.07305977 0.10602811
+v -0.05712224 0.07305977 0.10264848
+v -0.05616346 0.07260327 0.08500844
+v -0.05592886 0.07260327 0.08211797
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+f 1 30 23
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+f 1 15 9
+f 1 9 4
+f 1 4 11
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+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
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+f 5 12 6
+f 6 12 17
+f 6 17 25
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+f 6 27 26
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+f 6 18 13
+f 6 13 8
+f 6 8 7
+f 8 13 14
+f 9 15 10
+f 10 16 17
+f 10 17 11
+f 10 15 23
+f 10 23 31
+f 10 31 38
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+f 10 37 35
+f 10 35 24
+f 10 24 16
+f 13 18 19
+f 13 19 14
+f 14 19 18
+f 14 18 20
+f 14 20 21
+f 14 21 22
+f 16 24 17
+f 17 24 25
+f 18 26 20
+f 20 26 21
+f 21 27 28
+f 21 28 22
+f 21 26 27
+f 22 28 29
+f 23 30 31
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 24 35 32
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 30 40 39
+f 30 39 31
+f 31 39 38
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_021.obj b/data/object_data/hug_release/pitcher_base/collision/part_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745c168a5cc17f5668ec46ce964712628a0a859a
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_021.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03592415 0.00543307 0.23637966
+v -0.03592415 0.00250093 0.23635902
+v -0.03592415 0.00561207 0.23637140
+v -0.04669675 -0.00293716 0.23343578
+v -0.04669675 -0.00432225 0.23347294
+v -0.03592415 0.00175511 0.23628057
+v -0.04669675 -0.00268571 0.23341927
+v -0.03592415 0.00820326 0.23572730
+v -0.04669675 -0.00545590 0.23329540
+v -0.04385886 -0.00462911 0.23396841
+v -0.03848152 -0.00275816 0.23521119
+v -0.03592415 -0.00154354 0.23572730
+v -0.04669675 -0.00154781 0.23282885
+v -0.03592415 0.00827145 0.23570253
+v -0.04669675 -0.00693902 0.23299813
+v -0.03968269 -0.02635590 0.23089240
+v -0.03592415 -0.02774100 0.23123923
+v -0.03592415 0.00976309 0.23480656
+v -0.04669675 0.01501792 0.22245302
+v -0.04669675 -0.02330444 0.22905506
+v -0.04481115 -0.02457020 0.22970742
+v -0.03909740 -0.02751938 0.23043410
+v -0.03592415 -0.02820128 0.23113188
+v -0.03592415 0.01070921 0.23353074
+v -0.03592415 0.01501792 0.21885678
+v -0.04669675 0.01501792 0.19419923
+v -0.04669675 -0.02350900 0.22899726
+v -0.04669675 -0.02384995 0.22869998
+v -0.04669675 -0.02403320 0.22841096
+v -0.04294980 -0.02567401 0.22960007
+v -0.03592415 -0.02851239 0.23057448
+v -0.04669675 -0.02413549 0.22740352
+v -0.03743537 -0.02485148 0.19419923
+v -0.03592415 -0.02542256 0.19419923
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+v -0.04669675 -0.02024018 0.19419923
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+v -0.04625699 -0.02051294 0.19419923
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+v -0.04324720 -0.02216652 0.19419923
+v -0.04143436 -0.02307003 0.19419923
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+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 25
+f 19 25 35
+f 19 35 26
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 31 23
+f 22 30 29
+f 22 29 32
+f 22 32 33
+f 22 33 34
+f 22 34 31
+f 26 35 34
+f 26 34 33
+f 26 33 41
+f 26 41 40
+f 26 40 39
+f 26 39 38
+f 26 38 37
+f 26 37 36
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 33
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_022.obj b/data/object_data/hug_release/pitcher_base/collision/part_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b92aab2a75827fa984dbdcf1570541b2bc3131b
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_022.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06878174 -0.01405854 0.20323830
+v -0.06878174 -0.01053704 0.20179685
+v -0.06878174 -0.01405854 0.20520175
+v -0.07263852 -0.01405854 0.20636497
+v -0.06878174 -0.00786857 0.20115296
+v -0.07112895 -0.01228060 0.20445187
+v -0.07700051 -0.01405854 0.21624051
+v -0.06878174 0.00176948 0.22694010
+v -0.07699040 -0.01385856 0.21650283
+v -0.07532018 -0.01405854 0.20892196
+v -0.06878174 -0.00726550 0.20121126
+v -0.07172207 -0.01061984 0.20463736
+v -0.07442999 -0.01314457 0.20784617
+v -0.07709650 -0.01405854 0.21634915
+v -0.06878174 0.00190071 0.22706199
+v -0.07511304 -0.00581410 0.22385848
+v -0.07563745 -0.00894814 0.22105771
+v -0.07679034 -0.01216343 0.21852192
+v -0.07674992 -0.01405854 0.21076882
+v -0.06959816 -0.00772639 0.20221021
+v -0.06878174 0.00190071 0.20288588
+v -0.07777045 -0.01405854 0.21666182
+v -0.07222020 0.00190071 0.22807419
+v -0.07337107 -0.00105366 0.22677317
+v -0.07374291 0.00079927 0.22787281
+v -0.07475333 -0.00210511 0.22597560
+v -0.07605778 -0.00646715 0.22299996
+v -0.07654986 -0.01010583 0.22020450
+v -0.07806044 -0.01405854 0.21664327
+v -0.07807661 -0.01405854 0.21299194
+v -0.07859799 -0.01405854 0.21402534
+v -0.07910320 -0.01405854 0.21542439
+v -0.07404402 0.00190071 0.22744090
+v -0.07223637 0.00190071 0.22807684
+v -0.07334278 0.00190071 0.22821993
+v -0.07383284 0.00190071 0.22780922
+v -0.07599311 -0.00439237 0.22386112
+v -0.07691765 -0.00717489 0.22169100
+v -0.07760474 -0.00985430 0.21967721
+v -0.07824838 -0.01198688 0.21790454
+v -0.07886170 -0.01405854 0.21608948
+v -0.07903752 -0.01405854 0.21575826
+v -0.07882836 -0.01363046 0.21629615
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 15
+f 1 15 8
+f 1 8 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 29
+f 1 29 41
+f 1 41 42
+f 1 42 32
+f 1 32 31
+f 1 31 30
+f 1 30 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 8 9
+f 3 9 7
+f 4 10 6
+f 5 6 12
+f 5 12 13
+f 5 13 11
+f 6 10 13
+f 6 13 12
+f 7 9 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 14
+f 10 19 13
+f 11 20 21
+f 11 13 20
+f 13 19 20
+f 14 18 22
+f 15 23 24
+f 15 24 16
+f 15 21 33
+f 15 33 36
+f 15 36 35
+f 15 35 34
+f 15 34 23
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 16 18 17
+f 18 29 22
+f 18 28 29
+f 19 30 21
+f 19 21 20
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 23 34 25
+f 23 25 24
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 29
+f 27 29 28
+f 29 40 41
+f 32 42 38
+f 32 38 33
+f 33 38 37
+f 33 37 36
+f 38 40 39
+f 38 42 40
+f 40 42 43
+f 40 43 41
+f 41 43 42
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_023.obj b/data/object_data/hug_release/pitcher_base/collision/part_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc3b35a1cac01e810a1a5c87f6b484a21a7c3ab
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_023.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05136548 0.08906420 0.15536172
+v 0.05136548 0.09754102 0.15536172
+v 0.05017909 0.08988378 0.15536172
+v 0.04992781 0.08920847 0.12388476
+v 0.05136548 0.08919976 0.15368541
+v 0.04742302 0.10151951 0.15536172
+v 0.05136548 0.09743780 0.15338651
+v 0.04937278 0.09052427 0.15536172
+v 0.04970755 0.08937139 0.12388476
+v 0.04992781 0.09523402 0.12388476
+v 0.05136548 0.09110630 0.14096521
+v 0.04734191 0.10156179 0.15536172
+v 0.05136548 0.09674508 0.14096521
+v 0.04739042 0.10150956 0.15481630
+v 0.04817128 0.09191966 0.15536172
+v 0.04333981 0.09700998 0.12388476
+v 0.04455643 0.09832204 0.12388476
+v 0.04439660 0.09867649 0.12514507
+v 0.04564025 0.09861182 0.12833745
+v 0.04602193 0.09916152 0.13244809
+v 0.04661592 0.09990647 0.13908245
+v 0.04676780 0.10008680 0.14096521
+v 0.04708428 0.10046488 0.14492178
+v 0.04632807 0.10176824 0.15536172
+v 0.04665965 0.10119242 0.14877975
+v 0.04739598 0.10085787 0.14977198
+v 0.04744608 0.09284495 0.15536172
+v 0.04327223 0.09772384 0.12388476
+v 0.04701589 0.09360109 0.15536172
+v 0.04635033 0.09520542 0.15536172
+v 0.04631614 0.09533974 0.15536172
+v 0.04535637 0.10034051 0.15536172
+v 0.04416202 0.09848745 0.12388476
+v 0.04448963 0.09937045 0.13056533
+v 0.04543271 0.09966271 0.13408742
+v 0.04593207 0.10113273 0.14688158
+v 0.04576906 0.10160159 0.15536172
+v 0.04577065 0.10068874 0.14291268
+v 0.04324201 0.09808202 0.12388476
+v 0.04541998 0.10071112 0.15536172
+v 0.04558379 0.10118123 0.14959325
+v 0.04556312 0.10142872 0.15536172
+v 0.04553847 0.10134290 0.15371006
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 37
+f 1 37 42
+f 1 42 40
+f 1 40 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 28
+f 4 28 39
+f 4 39 33
+f 4 33 17
+f 4 17 10
+f 4 10 13
+f 4 13 11
+f 4 11 5
+f 6 7 13
+f 6 13 14
+f 6 14 12
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 13
+f 12 14 25
+f 12 25 24
+f 13 23 26
+f 13 26 14
+f 14 26 23
+f 14 23 25
+f 15 27 16
+f 16 27 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 28
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 20
+f 18 20 19
+f 20 35 21
+f 21 35 25
+f 21 25 22
+f 22 25 23
+f 24 36 37
+f 24 25 36
+f 25 38 36
+f 25 35 38
+f 28 32 39
+f 32 40 39
+f 33 39 34
+f 34 39 41
+f 34 41 36
+f 34 36 38
+f 34 38 35
+f 36 41 37
+f 37 41 43
+f 37 43 42
+f 39 40 42
+f 39 42 43
+f 39 43 41
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_024.obj b/data/object_data/hug_release/pitcher_base/collision/part_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5cdd9c47dabcfe7c94c93183cb690d2cc63a67
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_024.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.06665283 0.09762954 0.14096809
+v 0.06648093 0.09698335 0.14096809
+v 0.06649239 0.09727446 0.13879382
+v 0.06618461 0.09715130 0.13528990
+v 0.06561981 0.09761674 0.13219910
+v 0.06644819 0.09807099 0.14096809
+v 0.06630412 0.09675943 0.14096809
+v 0.06538406 0.09595970 0.12779704
+v 0.06496987 0.09590692 0.12388168
+v 0.06509756 0.09711771 0.12711465
+v 0.06216549 0.10114356 0.12995458
+v 0.06303807 0.10141387 0.13599738
+v 0.06607329 0.09861480 0.14014187
+v 0.06616661 0.09864519 0.14096809
+v 0.05576271 0.08794000 0.14096809
+v 0.05607213 0.08818951 0.13940262
+v 0.06481270 0.09543667 0.12388168
+v 0.06474231 0.09673064 0.12388168
+v 0.06299550 0.09875236 0.12388168
+v 0.06031063 0.10306451 0.12982580
+v 0.06080667 0.10306451 0.13247673
+v 0.06171201 0.10021907 0.12388168
+v 0.06157612 0.10306451 0.13660617
+v 0.06324926 0.10205525 0.14096809
+v 0.06530220 0.09966085 0.14096809
+v 0.05555479 0.08783923 0.14096809
+v 0.05466420 0.08700911 0.12806297
+v 0.05420745 0.08701231 0.12388168
+v 0.05895346 0.10306451 0.12388168
+v 0.06229318 0.10306451 0.14096809
+v 0.05497689 0.08790161 0.14096809
+v 0.05359352 0.08672601 0.12559601
+v 0.05351658 0.08678039 0.12388168
+v 0.05590022 0.10306451 0.12388168
+v 0.05779110 0.10306451 0.14096809
+v 0.05469694 0.08796399 0.14096809
+v 0.05247701 0.08730661 0.12388168
+v 0.04992965 0.09523354 0.12388168
+v 0.04992965 0.09684900 0.14096809
+v 0.05117059 0.09124129 0.14096809
+v 0.04992965 0.08928195 0.12432657
+v 0.04992965 0.08920677 0.12388168
+v 0.04992965 0.09268080 0.14096809
+v 0.05031274 0.09211139 0.14096809
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 25
+f 1 25 24
+f 1 24 30
+f 1 30 35
+f 1 35 39
+f 1 39 43
+f 1 43 44
+f 1 44 40
+f 1 40 36
+f 1 36 31
+f 1 31 26
+f 1 26 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 17 28
+f 9 28 33
+f 9 33 37
+f 9 37 42
+f 9 42 38
+f 9 38 34
+f 9 34 29
+f 9 29 22
+f 9 22 19
+f 9 19 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 20 21
+f 11 21 12
+f 11 19 22
+f 11 22 20
+f 12 23 24
+f 12 24 13
+f 12 21 23
+f 13 24 25
+f 13 25 14
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 20 22 29
+f 20 29 34
+f 20 34 35
+f 20 35 30
+f 20 30 23
+f 20 23 21
+f 23 30 24
+f 26 31 32
+f 26 32 27
+f 27 32 28
+f 28 32 33
+f 31 36 32
+f 32 37 33
+f 32 36 37
+f 34 38 39
+f 34 39 35
+f 36 40 41
+f 36 41 42
+f 36 42 37
+f 38 42 41
+f 38 41 43
+f 38 43 39
+f 40 44 41
+f 41 44 43
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_025.obj b/data/object_data/hug_release/pitcher_base/collision/part_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fcca9cd853d770090d90a4a0a79f1a344fba603
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_025.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04669675 -0.00432425 0.23346930
+v -0.04669675 -0.00545193 0.23329631
+v -0.04669675 -0.00293665 0.23343470
+v -0.05455331 0.00150607 0.23259663
+v -0.05455331 -0.00031341 0.23259279
+v -0.05455331 -0.00055734 0.23256587
+v -0.05455331 -0.00152506 0.23243517
+v -0.05455331 -0.00277670 0.23226602
+v -0.05030819 -0.00649963 0.23243517
+v -0.04669675 -0.00693950 0.23300029
+v -0.05455331 -0.00292465 0.23224295
+v -0.04669675 -0.00268472 0.23341933
+v -0.05455331 0.00188596 0.23256203
+v -0.05293370 -0.00732339 0.23157788
+v -0.04783724 -0.02361070 0.22875228
+v -0.04748425 -0.02298289 0.22899447
+v -0.04669675 -0.02330679 0.22905598
+v -0.05455331 -0.00588780 0.23149714
+v -0.04669675 -0.00154505 0.23282729
+v -0.05455331 0.01501818 0.22792959
+v -0.05455331 0.00553291 0.23177778
+v -0.05455331 0.00341352 0.23235828
+v -0.05224925 -0.02393061 0.22711459
+v -0.05258456 -0.02477037 0.22654562
+v -0.04669675 -0.02385063 0.22869846
+v -0.04669675 -0.02350673 0.22899832
+v -0.05455331 -0.02460641 0.22559606
+v -0.05436259 -0.02446645 0.22576137
+v -0.04669675 0.01501818 0.22245523
+v -0.05455331 0.01501818 0.19419924
+v -0.05455331 -0.02523823 0.22530389
+v -0.05325055 -0.02549016 0.22507323
+v -0.04669675 -0.02403058 0.22841398
+v -0.04669675 0.01501818 0.19419924
+v -0.05455331 -0.01492520 0.19419924
+v -0.05455331 -0.02583006 0.22419287
+v -0.04669675 -0.02413455 0.22740675
+v -0.04669675 -0.02024367 0.19419924
+v -0.05047353 -0.01776838 0.19419924
+v -0.05455331 -0.01674868 0.19763609
+v -0.05455331 -0.02564612 0.22334712
+v -0.05455331 -0.02488234 0.22084445
+v -0.05455331 -0.01915998 0.20304894
+v -0.05455331 -0.01822825 0.20078461
+v -0.05010208 -0.01801631 0.19419924
+f 1 2 10
+f 1 10 17
+f 1 17 26
+f 1 26 25
+f 1 25 33
+f 1 33 37
+f 1 37 38
+f 1 38 34
+f 1 34 29
+f 1 29 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 8 11
+f 2 11 9
+f 3 12 4
+f 4 13 22
+f 4 22 21
+f 4 21 20
+f 4 20 30
+f 4 30 35
+f 4 35 40
+f 4 40 44
+f 4 44 43
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+f 4 42 41
+f 4 41 36
+f 4 36 31
+f 4 31 27
+f 4 27 18
+f 4 18 11
+f 4 11 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 12 13
+f 9 11 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 14
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 18 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 17
+f 15 17 16
+f 15 18 23
+f 18 27 28
+f 18 28 23
+f 19 29 20
+f 20 29 34
+f 20 34 30
+f 23 28 31
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 27 31 28
+f 30 34 38
+f 30 38 45
+f 30 45 39
+f 30 39 35
+f 31 36 32
+f 32 36 33
+f 33 36 37
+f 35 39 40
+f 36 41 38
+f 36 38 37
+f 38 41 42
+f 38 42 43
+f 38 43 44
+f 38 44 40
+f 38 40 45
+f 39 45 40
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_026.obj b/data/object_data/hug_release/pitcher_base/collision/part_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f26b1e3c250a9d51142546a659a53551828bef17
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_026.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03163146 0.08687510 0.09777037
+v 0.03163146 0.08680208 0.09723049
+v 0.02911399 0.08450332 0.09681083
+v 0.02334811 0.07911341 0.09897034
+v 0.02334811 0.07878753 0.10039286
+v 0.02334811 0.07806274 0.10121161
+v 0.03163146 0.08674528 0.09789275
+v 0.03780821 0.08479540 0.10106378
+v 0.04309966 0.08479540 0.10106378
+v 0.04241411 0.08479540 0.09570671
+v 0.03163146 0.08666686 0.09707237
+v 0.03120242 0.08635314 0.09687256
+v 0.02972690 0.08435322 0.09625092
+v 0.02811745 0.08296450 0.09634460
+v 0.02609939 0.08163258 0.09738157
+v 0.02334811 0.07907960 0.09888153
+v 0.02334811 0.07806274 0.09727002
+v 0.03163373 0.07306091 0.09971815
+v 0.04516085 0.07853737 0.10106378
+v 0.04627316 0.07889705 0.10106378
+v 0.04643433 0.07927162 0.10106378
+v 0.04653649 0.07961237 0.10106378
+v 0.04614377 0.08050618 0.10106378
+v 0.04008506 0.07349632 0.09616861
+v 0.03615109 0.07761381 0.09570671
+v 0.03163146 0.07806274 0.09567963
+v 0.03912937 0.08479540 0.09570671
+v 0.04607340 0.07908095 0.10028456
+v 0.04494746 0.07793158 0.09888965
+v 0.04373300 0.07676732 0.09762471
+v 0.04246859 0.07572071 0.09689585
+v 0.03281414 0.07949608 0.09570671
+v 0.02445816 0.07806274 0.09670686
+v 0.02406544 0.07806274 0.09688447
+v 0.03163373 0.07406425 0.09570671
+v 0.03163373 0.07306091 0.09706858
+v 0.03898409 0.07306091 0.09770431
+v 0.03994204 0.07306091 0.09743302
+v 0.04571019 0.07828450 0.10021958
+v 0.04031206 0.07306091 0.09692509
+v 0.04283861 0.07529612 0.09741839
+v 0.04128590 0.07391010 0.09680866
+v 0.03980811 0.07306091 0.09631752
+v 0.03964013 0.07306091 0.09620326
+v 0.03369718 0.07547867 0.09570671
+v 0.03706364 0.07306091 0.09630669
+v 0.04034384 0.07306091 0.09676480
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 10 2
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+f 4 6 5
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+f 6 18 19
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+f 6 23 9
+f 6 9 8
+f 6 8 7
+f 9 23 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 10 23 22
+f 10 22 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 24
+f 11 27 12
+f 12 27 13
+f 13 32 26
+f 13 26 14
+f 13 27 32
+f 14 26 33
+f 14 33 34
+f 14 34 17
+f 14 17 15
+f 15 17 16
+f 17 34 35
+f 17 35 36
+f 18 37 19
+f 18 36 46
+f 18 46 44
+f 18 44 43
+f 18 43 47
+f 18 47 40
+f 18 40 38
+f 18 38 37
+f 19 37 38
+f 19 38 20
+f 20 39 21
+f 20 38 40
+f 20 40 41
+f 20 41 39
+f 21 39 28
+f 21 28 22
+f 24 31 42
+f 24 42 43
+f 24 43 44
+f 24 44 35
+f 24 35 45
+f 24 45 25
+f 25 45 26
+f 26 32 27
+f 26 45 35
+f 26 35 33
+f 28 39 29
+f 29 39 41
+f 29 41 30
+f 30 41 31
+f 31 41 42
+f 33 35 34
+f 35 44 46
+f 35 46 36
+f 40 47 41
+f 41 47 42
+f 42 47 43
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_027.obj b/data/object_data/hug_release/pitcher_base/collision/part_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028726e5e7021a77f025feb23094e1c519f4f390
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_027.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.07777069 -0.01405855 0.21666282
+v -0.07709627 -0.01405855 0.21634968
+v -0.07805973 -0.01405855 0.21664481
+v -0.06786604 -0.02787466 0.21442374
+v -0.06786604 -0.02720733 0.21434337
+v -0.07699992 -0.01405855 0.21624022
+v -0.07886188 -0.01405855 0.21609058
+v -0.07895822 -0.01528872 0.21549617
+v -0.07142190 -0.02630177 0.21321413
+v -0.06786604 -0.02816305 0.21422006
+v -0.06786604 -0.01405855 0.20444760
+v -0.07903777 -0.01405855 0.21575943
+v -0.07930888 -0.01461303 0.21505971
+v -0.07877897 -0.01747879 0.21390276
+v -0.07652155 -0.02137689 0.21294671
+v -0.07345974 -0.02455473 0.21296888
+v -0.07264976 -0.02550209 0.21231073
+v -0.07077212 -0.02684789 0.21257676
+v -0.06839146 -0.02819091 0.21362425
+v -0.06786604 -0.02828983 0.21374342
+v -0.06786604 -0.01405855 0.20250779
+v -0.07910386 -0.01405855 0.21542550
+v -0.07895038 -0.01616920 0.21330280
+v -0.07859748 -0.01405855 0.21402192
+v -0.07799812 -0.01922304 0.21311298
+v -0.07575189 -0.02229360 0.21218464
+v -0.07140734 -0.02220861 0.20945922
+v -0.06786604 -0.01871036 0.20514176
+v -0.06786604 -0.02217518 0.20761640
+v -0.06914879 -0.02354189 0.20922783
+v -0.06786604 -0.02701089 0.21173017
+v -0.06799711 -0.02718086 0.21193385
+v -0.06786604 -0.02739959 0.21214447
+v -0.06786604 -0.02805159 0.21292177
+v -0.06786604 -0.02822992 0.21330142
+v -0.06786604 -0.02393755 0.20904493
+v -0.06786604 -0.02544635 0.21028086
+v -0.06801168 -0.01405855 0.20260755
+v -0.06786604 -0.01411984 0.20254104
+v -0.07807654 -0.01405855 0.21298966
+v -0.07675009 -0.01405855 0.21076582
+v -0.07532057 -0.01405855 0.20892161
+v -0.07809446 -0.01690759 0.21227194
+v -0.07698311 -0.01901128 0.21183825
+v -0.06786604 -0.01833281 0.20491869
+v -0.06786604 -0.02714743 0.21187150
+v -0.07396277 -0.01561751 0.20804316
+v -0.07263855 -0.01405855 0.20636523
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 38
+f 1 38 48
+f 1 48 42
+f 1 42 41
+f 1 41 40
+f 1 40 24
+f 1 24 22
+f 1 22 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 20
+f 4 20 35
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+f 4 28 45
+f 4 45 39
+f 4 39 21
+f 4 21 11
+f 4 11 5
+f 4 8 9
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
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+f 8 16 9
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+f 9 17 18
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+f 9 19 10
+f 10 19 20
+f 12 22 13
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+f 13 22 24
+f 13 24 23
+f 14 25 15
+f 14 23 25
+f 15 25 26
+f 15 26 17
+f 15 17 16
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 30 36
+f 18 36 37
+f 18 37 31
+f 19 35 20
+f 21 39 26
+f 21 26 38
+f 23 24 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 25
+f 25 43 44
+f 25 44 26
+f 26 45 28
+f 26 28 27
+f 26 44 38
+f 26 39 45
+f 29 36 30
+f 31 46 32
+f 32 46 33
+f 38 47 48
+f 38 44 47
+f 42 48 43
+f 43 48 47
+f 43 47 44
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_028.obj b/data/object_data/hug_release/pitcher_base/collision/part_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..306179944b4e42c8adb41c9c34c06bc99506d50a
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_028.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.06229347 0.10306611 0.14096809
+v 0.06206304 0.10330932 0.14096809
+v 0.05779030 0.10306611 0.14096809
+v 0.06157532 0.10306611 0.13660617
+v 0.05985383 0.10501044 0.13732368
+v 0.06001502 0.10544251 0.14096809
+v 0.05388750 0.10799176 0.14096809
+v 0.05255143 0.10623279 0.12388168
+v 0.05589935 0.10306611 0.12388168
+v 0.06080654 0.10306611 0.13247673
+v 0.05692956 0.10830257 0.14083262
+v 0.05907057 0.10435118 0.12973883
+v 0.05619488 0.10791789 0.13482495
+v 0.05709592 0.10816737 0.14096809
+v 0.05385236 0.10804681 0.14096809
+v 0.05178265 0.10734852 0.12388168
+v 0.05895278 0.10306611 0.12388168
+v 0.06031055 0.10306611 0.12982580
+v 0.05453745 0.10979184 0.13767993
+v 0.05681279 0.10841686 0.14096809
+v 0.05693473 0.10831581 0.14096809
+v 0.05567823 0.10749139 0.12987430
+v 0.05930410 0.10306611 0.12541872
+v 0.05833383 0.10371771 0.12388168
+v 0.05596032 0.10595055 0.12388168
+v 0.05539716 0.10659727 0.12440350
+v 0.05431942 0.10921690 0.13329459
+v 0.05336568 0.10963016 0.14096809
+v 0.05186531 0.10771648 0.12553078
+v 0.05173718 0.10769209 0.12388168
+v 0.05469658 0.11013331 0.14096809
+v 0.05377280 0.10868098 0.12784219
+v 0.05285212 0.10871931 0.12549733
+v 0.05375110 0.10966778 0.13512433
+v 0.05533000 0.10653246 0.12388168
+v 0.05495387 0.10685721 0.12388168
+v 0.05343697 0.10978068 0.14096809
+v 0.05330574 0.10962667 0.14020543
+v 0.05187564 0.10823079 0.12388168
+v 0.05412206 0.11018558 0.14096809
+v 0.05343181 0.10812835 0.12388168
+v 0.05303502 0.10833045 0.12388168
+v 0.05260206 0.10852140 0.12388168
+v 0.05201411 0.10849770 0.12484337
+v 0.05314248 0.10920435 0.13020379
+v 0.05357234 0.11003366 0.13911327
+v 0.05364777 0.11007059 0.14096809
+v 0.05303295 0.10959043 0.13602247
+v 0.05204097 0.10841338 0.12388168
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 20
+f 1 20 31
+f 1 31 40
+f 1 40 47
+f 1 47 37
+f 1 37 28
+f 1 28 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 23
+f 1 23 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
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+f 4 10 5
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+f 7 15 16
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+f 8 16 30
+f 8 30 39
+f 8 39 49
+f 8 49 43
+f 8 43 42
+f 8 42 41
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+f 8 25 24
+f 8 24 17
+f 8 17 9
+f 10 18 12
+f 11 13 19
+f 11 19 20
+f 11 20 21
+f 11 21 14
+f 12 22 13
+f 12 18 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 22
+f 13 22 27
+f 13 27 19
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 17 24 23
+f 19 31 20
+f 19 27 32
+f 19 32 33
+f 19 33 34
+f 19 34 31
+f 22 26 32
+f 22 32 27
+f 25 35 26
+f 26 35 36
+f 26 36 32
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 31 34 40
+f 32 36 41
+f 32 41 42
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 40
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 39 44 49
+f 39 48 44
+f 40 46 47
+f 43 49 44
+f 44 48 46
+f 44 46 45
+f 46 48 47
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_029.obj b/data/object_data/hug_release/pitcher_base/collision/part_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df2d4a012113c0ba3ad2c0db777b4c6d79652a5
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_029.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.06171592 -0.02767061 0.21831248
+v -0.06171592 -0.02740945 0.21919243
+v -0.06171592 -0.02715230 0.21620914
+v -0.05466760 -0.02566131 0.22319475
+v -0.05590436 -0.02616896 0.22319475
+v -0.05896755 -0.02684850 0.22117656
+v -0.06171592 -0.02732817 0.21928894
+v -0.05778406 -0.02630487 0.22275477
+v -0.05885397 -0.02571194 0.21630849
+v -0.05646035 -0.02587450 0.22081890
+v -0.06171592 -0.02546278 0.21137797
+v -0.05455331 -0.01916307 0.20304691
+v -0.05455331 -0.02560135 0.22319475
+v -0.05455331 -0.02488450 0.22084445
+v -0.05645334 -0.02618095 0.22319475
+v -0.06078554 -0.02657269 0.22061453
+v -0.06171592 -0.02648475 0.21972891
+v -0.05728767 -0.02611167 0.22319475
+v -0.06171592 -0.02503107 0.21021134
+v -0.05455331 -0.01822903 0.20078461
+v -0.05455331 -0.02322963 0.22319475
+v -0.06171592 -0.02627156 0.21970620
+v -0.05911548 -0.02565465 0.22208488
+v -0.05761369 -0.02528556 0.22319475
+v -0.06171592 -0.02429290 0.20853661
+v -0.05455331 -0.01675004 0.19763668
+v -0.05455331 -0.01888725 0.21489206
+v -0.06171592 -0.01405987 0.20124161
+v -0.05467391 -0.02329092 0.22319475
+v -0.06171592 -0.02555205 0.21884329
+v -0.05739564 -0.02436219 0.22244822
+v -0.05700863 -0.02470863 0.22319475
+v -0.06171592 -0.02379858 0.20773899
+v -0.05455331 -0.01492595 0.19419924
+v -0.05455331 -0.01434901 0.20561862
+v -0.05468302 -0.01434101 0.20558455
+v -0.05493612 -0.01405987 0.20438385
+v -0.06171592 -0.01405987 0.19861314
+v -0.05640777 -0.02417299 0.22319475
+v -0.06171592 -0.02292984 0.20637650
+v -0.06171592 -0.02087123 0.20405742
+v -0.05524531 -0.01460217 0.19419924
+v -0.05455331 -0.01405987 0.19419924
+v -0.06171592 -0.02137356 0.20462229
+v -0.05455331 -0.01430104 0.20542843
+v -0.05455331 -0.01405987 0.20442643
+v -0.05610489 -0.01405987 0.19419924
+v -0.06171592 -0.01649954 0.20035032
+v -0.06171592 -0.02000782 0.20329386
+v -0.05600252 -0.01414781 0.19419924
+f 1 2 7
+f 1 7 17
+f 1 17 22
+f 1 22 30
+f 1 30 28
+f 1 28 38
+f 1 38 48
+f 1 48 49
+f 1 49 41
+f 1 41 44
+f 1 44 40
+f 1 40 33
+f 1 33 25
+f 1 25 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 3 11 12
+f 3 12 9
+f 4 13 21
+f 4 21 29
+f 4 29 39
+f 4 39 32
+f 4 32 24
+f 4 24 18
+f 4 18 15
+f 4 15 5
+f 4 10 14
+f 4 14 13
+f 5 15 6
+f 6 15 8
+f 7 8 16
+f 7 16 17
+f 8 15 18
+f 8 18 16
+f 9 14 10
+f 9 12 14
+f 11 19 12
+f 12 20 26
+f 12 26 34
+f 12 34 43
+f 12 43 46
+f 12 46 45
+f 12 45 35
+f 12 35 27
+f 12 27 21
+f 12 21 13
+f 12 13 14
+f 12 19 20
+f 16 22 17
+f 16 18 23
+f 16 23 22
+f 18 24 23
+f 19 25 20
+f 20 25 26
+f 21 27 28
+f 21 28 29
+f 22 23 30
+f 23 24 31
+f 23 31 30
+f 24 32 31
+f 25 33 34
+f 25 34 26
+f 27 35 36
+f 27 36 28
+f 28 37 46
+f 28 46 43
+f 28 43 47
+f 28 47 38
+f 28 30 31
+f 28 31 39
+f 28 39 29
+f 28 36 37
+f 31 32 39
+f 33 40 34
+f 34 41 42
+f 34 42 50
+f 34 50 47
+f 34 47 43
+f 34 40 44
+f 34 44 41
+f 35 45 36
+f 36 45 46
+f 36 46 37
+f 38 47 48
+f 41 49 50
+f 41 50 42
+f 47 50 49
+f 47 49 48
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_030.obj b/data/object_data/hug_release/pitcher_base/collision/part_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1e0da5980436ac1b7b3d5feb8ff3f13d376473
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_030.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03484421 0.08944879 0.10106405
+v 0.03486123 0.08963597 0.10106405
+v 0.03525393 0.08876161 0.10106405
+v 0.03918094 0.09285396 0.10820893
+v 0.03907229 0.09304883 0.10820893
+v 0.03906444 0.09326935 0.10820893
+v 0.03917046 0.09376166 0.10820893
+v 0.03739808 0.09246677 0.10496940
+v 0.03540054 0.09037188 0.10106405
+v 0.03760490 0.08502054 0.10106405
+v 0.03763893 0.08496926 0.10106405
+v 0.04224139 0.08843083 0.10820893
+v 0.04000168 0.09447192 0.10820893
+v 0.04821568 0.10464638 0.10752214
+v 0.04821568 0.10473100 0.10740674
+v 0.04789497 0.10443356 0.10662063
+v 0.04680195 0.10338996 0.10335243
+v 0.04635035 0.10274124 0.10106405
+v 0.04283436 0.08761031 0.10820893
+v 0.04087740 0.08135384 0.10106405
+v 0.04005273 0.09448987 0.10820893
+v 0.04008807 0.09448731 0.10820893
+v 0.04821568 0.09344114 0.10820893
+v 0.04821568 0.10448997 0.10529601
+v 0.04782167 0.10422330 0.10455326
+v 0.04638569 0.10277457 0.10113329
+v 0.04790152 0.10332329 0.10226209
+v 0.04729807 0.10271560 0.10106405
+v 0.04561862 0.08503080 0.10820893
+v 0.04185130 0.08059229 0.10106405
+v 0.04809394 0.08299232 0.10820893
+v 0.04690929 0.08393848 0.10820893
+v 0.04821568 0.08294360 0.10820893
+v 0.04821568 0.10375151 0.10340138
+v 0.04821568 0.10339252 0.10275166
+v 0.04821568 0.10219507 0.10122071
+v 0.04821568 0.10207200 0.10106405
+v 0.04818426 0.10210277 0.10106405
+v 0.04507014 0.07856150 0.10106405
+v 0.04516177 0.07853842 0.10106405
+v 0.04821568 0.08114871 0.10535685
+v 0.04821568 0.09052316 0.10106405
+v 0.04627311 0.07889484 0.10106405
+v 0.04679803 0.07946664 0.10185225
+v 0.04821568 0.08112307 0.10491484
+v 0.04821568 0.08123076 0.10407139
+v 0.04725225 0.08043588 0.10227118
+v 0.04653623 0.07961280 0.10106405
+v 0.04643412 0.07927433 0.10106405
+v 0.04821568 0.08118461 0.10435394
+f 1 2 9
+f 1 9 18
+f 1 18 28
+f 1 28 38
+f 1 38 37
+f 1 37 42
+f 1 42 48
+f 1 48 49
+f 1 49 43
+f 1 43 40
+f 1 40 39
+f 1 39 30
+f 1 30 20
+f 1 20 11
+f 1 11 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 4 23 22
+f 4 22 21
+f 4 21 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
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+f 9 17 18
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+f 14 41 45
+f 14 45 50
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+f 14 46 42
+f 14 42 37
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+f 14 36 35
+f 14 35 34
+f 14 34 24
+f 14 24 15
+f 15 24 25
+f 15 25 17
+f 15 17 16
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+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 19 20 29
+f 20 30 31
+f 20 31 32
+f 20 32 29
+f 24 34 25
+f 25 34 27
+f 25 27 26
+f 27 34 35
+f 27 35 36
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+f 27 38 28
+f 30 39 31
+f 31 39 33
+f 33 39 40
+f 33 40 41
+f 40 43 41
+f 41 43 44
+f 41 44 45
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+f 42 47 48
+f 43 49 44
+f 44 49 46
+f 44 46 50
+f 44 50 45
+f 46 49 48
+f 46 48 47
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_031.obj b/data/object_data/hug_release/pitcher_base/collision/part_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c495479effad53d000be2c3a9e0d2482a31430fd
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_031.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.06595148 -0.02865157 0.21417838
+v -0.06171652 -0.02715155 0.21621060
+v -0.06444313 -0.02852585 0.21611550
+v -0.06593463 -0.02865157 0.21535885
+v -0.06786492 -0.02829014 0.21374423
+v -0.06786492 -0.02823014 0.21330182
+v -0.06734488 -0.02826728 0.21298344
+v -0.06171652 -0.02429295 0.20853447
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+v -0.06786492 -0.01833288 0.20491864
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_032.obj b/data/object_data/hug_release/pitcher_base/collision/part_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2b80781a4a9a8d41a3d07f8c6829e0b6c5c2b6
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_032.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00049219 0.00798598 0.19420299
+v 0.00049219 0.00798598 0.21702989
+v 0.00049219 0.02964565 0.19420299
+v 0.04400161 0.00798598 0.19420299
+v 0.00049728 0.00798598 0.21706379
+v 0.00049219 0.00799446 0.21706002
+v 0.00049219 0.02964565 0.21397124
+v 0.04948800 0.02964565 0.19420299
+v 0.04401178 0.00800506 0.19420299
+v 0.04728937 0.00798598 0.23098594
+v 0.02806665 0.00798598 0.23159992
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+v 0.05248057 0.02964565 0.23070719
+v 0.04925388 0.02696999 0.19420299
+v 0.04413393 0.00827220 0.19420299
+v 0.04887218 0.01194858 0.23121948
+v 0.04755402 0.00919024 0.23166020
+v 0.04724356 0.00798598 0.23110271
+v 0.04527905 0.01095846 0.19420299
+v 0.02981740 0.00798598 0.23244369
+v 0.03675428 0.02964565 0.23227795
+v 0.05232789 0.02964565 0.23132872
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+v 0.04909611 0.02564276 0.19420299
+v 0.04982899 0.01491682 0.23083527
+v 0.05055168 0.01809708 0.23135132
+v 0.04951853 0.01696066 0.23207455
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+v 0.04675498 0.01519456 0.19420299
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+v 0.04690257 0.00798598 0.23179204
+v 0.03025000 0.00798598 0.23260943
+v 0.03767546 0.02964565 0.23244746
+v 0.05225664 0.02964565 0.23150952
+v 0.05190547 0.02964565 0.23170540
+v 0.05049570 0.02256852 0.23202934
+v 0.05158992 0.02539470 0.23169033
+v 0.05134054 0.02089570 0.23076369
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+v 0.04775760 0.01873313 0.19420299
+v 0.05099446 0.02194095 0.23172423
+v 0.04600175 0.00798598 0.23225535
+v 0.04619005 0.00798598 0.23218755
+v 0.03096252 0.00798598 0.23264333
+v 0.03832182 0.02964565 0.23248889
+v 0.05111152 0.02964565 0.23191633
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+v 0.03609774 0.01595782 0.23262827
+v 0.03355304 0.01022700 0.23268101
+v 0.03243336 0.00798598 0.23266970
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_033.obj b/data/object_data/hug_release/pitcher_base/collision/part_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8bb91848eb3f74c6ad32736733d0932c31d0d1
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_033.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05640858 0.09386368 0.10106405
+v 0.05892996 0.09092370 0.10106405
+v 0.05615992 0.09386368 0.10076251
+v 0.04865459 0.09386368 0.10106405
+v 0.05894334 0.09033695 0.10106405
+v 0.05685778 0.08777068 0.09633330
+v 0.05826152 0.09030233 0.09961981
+v 0.05595671 0.09386368 0.10051709
+v 0.04720005 0.09386368 0.09570662
+v 0.03621611 0.09064053 0.10106405
+v 0.05892195 0.08977860 0.10106405
+v 0.05647810 0.08736412 0.09570662
+v 0.05634708 0.08804586 0.09570662
+v 0.05625351 0.08833879 0.09570662
+v 0.05588452 0.08878706 0.09570662
+v 0.05442196 0.09299287 0.09786931
+v 0.05502623 0.09386368 0.09944099
+v 0.05133373 0.09386368 0.09570662
+v 0.03913321 0.08479696 0.09570662
+v 0.03163056 0.08479696 0.09651947
+v 0.03163056 0.08501267 0.09654411
+v 0.03163056 0.08587904 0.09677381
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+v 0.03163056 0.08680400 0.09723005
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+v 0.03433911 0.08926552 0.09913997
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+v 0.03540060 0.09036890 0.10106405
+v 0.03620007 0.09063609 0.10106405
+v 0.05863318 0.08953537 0.10106405
+v 0.05754494 0.08830683 0.09882584
+v 0.05606366 0.08682708 0.09570662
+v 0.05264121 0.09249666 0.09570662
+v 0.05359843 0.09386368 0.09788609
+v 0.04241663 0.08479696 0.09570662
+v 0.03163056 0.08479696 0.09802192
+v 0.03163056 0.08687590 0.09777020
+v 0.03367868 0.08881724 0.09935079
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+v 0.05815189 0.08921581 0.10106405
+v 0.05642195 0.08713510 0.09685352
+v 0.05539789 0.08648355 0.09570662
+v 0.04310379 0.08479696 0.10106405
+v 0.03780969 0.08479696 0.10106405
+v 0.03779632 0.08481028 0.10106405
+v 0.03764124 0.08496917 0.10106405
+v 0.03760648 0.08501888 0.10106405
+v 0.03525354 0.08876132 0.10106405
+v 0.03484445 0.08944749 0.10106405
+v 0.03163056 0.08593851 0.09825790
+v 0.03163056 0.08674807 0.09789239
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_034.obj b/data/object_data/hug_release/pitcher_base/collision/part_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b3f7d44c42b04274f6ea3ef81f8c3876437030
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_034.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.07704834 0.03443012 0.19419923
+v -0.07690468 0.03798103 0.19419923
+v -0.07704398 0.03365590 0.19419923
+v -0.08039599 0.03400496 0.23190632
+v -0.07684373 0.03904131 0.19419923
+v -0.07685244 0.02899222 0.19419923
+v -0.08019575 0.02878489 0.23194763
+v -0.08003467 0.03370315 0.23233076
+v -0.07951228 0.04183375 0.23188003
+v -0.07999114 0.03921453 0.23168096
+v -0.07664783 0.04100704 0.19419923
+v -0.07683503 0.02875602 0.19419923
+v -0.07916402 0.02290871 0.23126028
+v -0.07867210 0.02264101 0.23185749
+v -0.07918579 0.02573526 0.23204529
+v -0.07917708 0.02866417 0.23245095
+v -0.07637358 0.02484294 0.19419923
+v -0.07617768 0.02359894 0.19419923
+v -0.07922061 0.03183715 0.23256738
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+v -0.07899424 0.04137184 0.23232325
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+v -0.07656512 0.04183375 0.19419923
+v -0.07853280 0.01990631 0.23094853
+v -0.07793640 0.01809018 0.23116262
+v -0.07545069 0.01987220 0.19419923
+v -0.07741401 0.01816629 0.23134667
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+v -0.06270870 0.01502218 0.23257114
+v -0.07888106 0.04183375 0.23232700
+v -0.06447612 0.02100597 0.23254110
+v -0.06583434 0.04183375 0.23237958
+v -0.03592310 0.04183375 0.19419923
+v -0.07729212 0.01530037 0.23024990
+v -0.07715717 0.01502218 0.23031751
+v -0.07683938 0.01502218 0.23082833
+v -0.07710493 0.01621106 0.23103867
+v -0.07440591 0.01588563 0.19419923
+v -0.06099352 0.01502218 0.23230822
+v -0.06576904 0.04183375 0.23236831
+v -0.03592310 0.04183375 0.21502658
+v -0.03592310 0.01502218 0.19419923
+v -0.07719200 0.01502218 0.23021234
+v -0.07427096 0.01544734 0.19419923
+v -0.07413166 0.01502218 0.19419923
+v -0.05939587 0.01502218 0.23148940
+v -0.06377525 0.04183375 0.23194012
+v -0.06384926 0.04183375 0.23197769
+v -0.06394503 0.04183375 0.23200022
+v -0.03592310 0.01502218 0.21885776
+v -0.06276094 0.04183375 0.23140676
+f 1 2 5
+f 1 5 11
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+f 1 35 44
+f 1 44 47
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+f 1 46 40
+f 1 40 27
+f 1 27 18
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+f 1 17 12
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+f 1 6 3
+f 1 3 4
+f 1 4 2
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_035.obj b/data/object_data/hug_release/pitcher_base/collision/part_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac163bb236b0d65c2db35ee1a3770cf30c1ae4a0
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_035.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04821568 0.08112265 0.10491484
+v 0.04821568 0.08114887 0.10535685
+v 0.04821568 0.08118463 0.10435394
+v 0.05863326 0.08953736 0.10106405
+v 0.05892741 0.08978289 0.10246351
+v 0.04971299 0.08238366 0.10750745
+v 0.04891001 0.08174958 0.10657867
+v 0.04956591 0.08244326 0.10820893
+v 0.04911937 0.08258628 0.10820893
+v 0.04821568 0.08294385 0.10820893
+v 0.04821568 0.08122992 0.10407139
+v 0.05815358 0.08921556 0.10106405
+v 0.05892212 0.08978051 0.10106405
+v 0.06002058 0.09070064 0.10359651
+v 0.05012243 0.08276268 0.10820893
+v 0.04981767 0.08258390 0.10820893
+v 0.06128337 0.09194259 0.10809773
+v 0.04821568 0.09343960 0.10820893
+v 0.04821568 0.09052424 0.10106405
+v 0.05894597 0.09033831 0.10106405
+v 0.06083019 0.09238835 0.10524285
+v 0.06175111 0.09272923 0.10820893
+v 0.06167160 0.09233114 0.10820893
+v 0.06134432 0.09200218 0.10820893
+v 0.04845949 0.10481019 0.10820893
+v 0.04821568 0.10464571 0.10752214
+v 0.04821568 0.10207124 0.10106405
+v 0.05893007 0.09092472 0.10106405
+v 0.05967078 0.09161601 0.10266913
+v 0.06168221 0.09348251 0.10820893
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+v 0.05853388 0.09714875 0.10820893
+v 0.05858820 0.09708677 0.10820893
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+v 0.04821568 0.10472914 0.10740674
+v 0.04821568 0.10219519 0.10122071
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+v 0.05468327 0.09575662 0.10106405
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+v 0.05467532 0.09947769 0.10564849
+v 0.05847822 0.09720834 0.10820893
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+v 0.04821568 0.10449076 0.10529601
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+v 0.05214712 0.09837162 0.10106405
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+v 0.05305213 0.10261473 0.10820893
+v 0.05521859 0.10055993 0.10820893
+v 0.04958049 0.10547288 0.10820893
+v 0.04930487 0.10523212 0.10735149
+v 0.04821568 0.10375179 0.10340138
+v 0.05084061 0.10466478 0.10820893
+v 0.05023771 0.10506763 0.10820893
+f 1 2 10
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+f 1 26 35
+f 1 35 45
+f 1 45 53
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+f 1 36 27
+f 1 27 19
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+f 21 32 33
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+f 31 42 32
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+f 42 49 50
+f 42 50 43
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+f 48 54 49
+f 51 55 52
+f 52 55 54
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_036.obj b/data/object_data/hug_release/pitcher_base/collision/part_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481f646e834f4b53dd8c3b4f60171d88967fa743
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_036.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.07656480 0.04183375 0.19419924
+v -0.07966934 0.04183375 0.23136308
+v -0.07656051 0.04189488 0.19419924
+v -0.03592310 0.04183375 0.19419924
+v -0.07951519 0.04183375 0.23187904
+v -0.07910838 0.04571255 0.23149394
+v -0.07956657 0.04264068 0.23126587
+v -0.07589250 0.04610379 0.19419924
+v -0.03592310 0.07305977 0.19419924
+v -0.03592310 0.04183375 0.21502444
+v -0.07901846 0.04456327 0.23208468
+v -0.07899705 0.04183375 0.23229031
+v -0.07815346 0.05048693 0.23140047
+v -0.07567839 0.04713691 0.19419924
+v -0.03592310 0.07305977 0.22779625
+v -0.06349573 0.07305977 0.19419924
+v -0.06275921 0.04183375 0.23140795
+v -0.07736555 0.05159035 0.23210710
+v -0.07888143 0.04183375 0.23232395
+v -0.07742978 0.04734170 0.23239126
+v -0.07665043 0.05571368 0.23131448
+v -0.07409829 0.05321339 0.19419924
+v -0.07531441 0.04879052 0.19419924
+v -0.04389214 0.07305977 0.23123970
+v -0.06384687 0.04183375 0.23197625
+v -0.06377407 0.04183375 0.23193886
+v -0.06411236 0.07229562 0.19419924
+v -0.06777358 0.07305977 0.23074618
+v -0.07593960 0.05441463 0.23224170
+v -0.07572978 0.05697299 0.23202485
+v -0.06583377 0.04183375 0.23237630
+v -0.07442373 0.05879165 0.23220057
+v -0.06872850 0.06999708 0.23223423
+v -0.07522877 0.05955885 0.23117988
+v -0.07268947 0.05718084 0.19419924
+v -0.07377713 0.05414871 0.19419924
+v -0.04640147 0.07305977 0.23186034
+v -0.06394536 0.04183375 0.23199868
+v -0.06461765 0.07159872 0.19419924
+v -0.06626199 0.06933074 0.19419924
+v -0.06967913 0.07033941 0.23088452
+v -0.06749952 0.07305977 0.23148272
+v -0.07370005 0.06239230 0.23175192
+v -0.07160181 0.06526243 0.23215571
+v -0.06576954 0.04183375 0.23236883
+v -0.04891508 0.07305977 0.23200990
+v -0.05723098 0.06389920 0.23216692
+v -0.06655746 0.07305977 0.23214449
+v -0.06740103 0.07305977 0.23163975
+v -0.06827459 0.07191661 0.23160985
+v -0.07043278 0.06851463 0.23168088
+v -0.07251390 0.06550085 0.23113128
+v -0.07113506 0.06080288 0.19419924
+v -0.07148619 0.05998983 0.19419924
+v -0.06662597 0.06876833 0.19419924
+v -0.06855293 0.06572092 0.19419924
+v -0.06936653 0.06427821 0.19419924
+v -0.06961062 0.06380139 0.19419924
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 23
+f 1 23 22
+f 1 22 36
+f 1 36 35
+f 1 35 54
+f 1 54 53
+f 1 53 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 40
+f 1 40 39
+f 1 39 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
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+f 1 26 25
+f 1 25 38
+f 1 38 45
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+f 52 56 57
+f 52 57 58
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_037.obj b/data/object_data/hug_release/pitcher_base/collision/part_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561098812cc6bdd7a5b45350209b543afa56a597
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_037.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.03747300 0.07306268 0.23145074
+v 0.03720213 0.07306268 0.23123097
+v 0.03819703 0.07306268 0.23131987
+v 0.03831515 0.07389144 0.23117048
+v 0.03700966 0.07412698 0.23136926
+v 0.03700966 0.07375186 0.23142728
+v 0.03700966 0.07350759 0.23130382
+v 0.03700966 0.07325751 0.23117665
+v 0.03700966 0.07306268 0.23082972
+v 0.03895364 0.07306268 0.23117541
+v 0.03709724 0.07596771 0.23105319
+v 0.03700966 0.07604623 0.23105812
+v 0.03700966 0.07306268 0.21891308
+v 0.04732528 0.07306268 0.22578873
+v 0.04741183 0.07320516 0.22574922
+v 0.04741183 0.07461552 0.22557020
+v 0.04741183 0.07476092 0.22554798
+v 0.04741183 0.07602296 0.22534920
+v 0.04741183 0.07835804 0.22489856
+v 0.04741183 0.08237683 0.22408741
+v 0.04741183 0.08673583 0.22306019
+v 0.04741183 0.08927738 0.22234658
+v 0.04741183 0.09403769 0.22093046
+v 0.04741183 0.09651526 0.22011066
+v 0.04660837 0.09789072 0.21993288
+v 0.04416032 0.09604998 0.22138110
+v 0.04212572 0.10165650 0.21990818
+v 0.04035791 0.10016182 0.22097244
+v 0.03854733 0.09788781 0.22221201
+v 0.03700966 0.09684967 0.22286759
+v 0.03701272 0.07306268 0.21883776
+v 0.03700966 0.07315282 0.21883776
+v 0.04741183 0.07306268 0.22573070
+v 0.04741183 0.09727423 0.21984028
+v 0.04741183 0.09779475 0.21961434
+v 0.04741183 0.09943193 0.21883776
+v 0.04698108 0.09984195 0.21883776
+v 0.04490472 0.10175829 0.21883776
+v 0.04447703 0.10211014 0.21883776
+v 0.04332734 0.10274117 0.21883776
+v 0.04283956 0.10276734 0.21883776
+v 0.04131615 0.10201418 0.21935507
+v 0.03979172 0.10076667 0.22030080
+v 0.03705549 0.09823094 0.22217002
+v 0.03700966 0.09817279 0.22220336
+v 0.03821026 0.07306268 0.21883776
+v 0.03700966 0.08360689 0.21883776
+v 0.04741183 0.07306268 0.22439359
+v 0.04741183 0.08996075 0.21883776
+v 0.04206869 0.10262485 0.21883776
+v 0.04182939 0.10245619 0.21883776
+v 0.03703716 0.09846067 0.22138110
+v 0.03700966 0.09820768 0.22217620
+v 0.03700966 0.09819896 0.22218854
+v 0.03700966 0.09785582 0.22090330
+v 0.04097297 0.10119123 0.21883776
+v 0.03700966 0.09806810 0.22094280
+v 0.03700966 0.09843741 0.22138727
+f 1 2 9
+f 1 9 13
+f 1 13 31
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+f 1 14 10
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+f 51 56 57
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+f 51 58 52
+f 52 58 53
+f 55 57 56
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_038.obj b/data/object_data/hug_release/pitcher_base/collision/part_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11eff2f5ac6b2beb439a7feee36a19d8ef2ae8cb
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_038.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.04741285 0.07875101 0.20977388
+v 0.06576599 0.09405476 0.20645942
+v 0.06437337 0.09261013 0.21028631
+v 0.04741285 0.07948420 0.21022166
+v 0.04741285 0.07881936 0.20963870
+v 0.05424763 0.08555475 0.20482758
+v 0.06653967 0.09482212 0.20482758
+v 0.06549237 0.09369127 0.20830447
+v 0.06464510 0.09319109 0.21028631
+v 0.06409598 0.09244237 0.21028631
+v 0.04741285 0.07966750 0.21026921
+v 0.04741285 0.07968924 0.20917490
+v 0.05305881 0.08575668 0.20482758
+v 0.05413441 0.08554543 0.20482758
+v 0.06668874 0.09504270 0.20482758
+v 0.06621133 0.09469785 0.20639745
+v 0.06444319 0.09399884 0.21028631
+v 0.06351855 0.09226839 0.21028631
+v 0.04741285 0.08996320 0.21028631
+v 0.04813558 0.08911817 0.20482758
+v 0.04834315 0.08892555 0.20482758
+v 0.05166808 0.08654269 0.20482758
+v 0.05292483 0.08582814 0.20482758
+v 0.04741285 0.09001912 0.20482758
+v 0.06642833 0.09629782 0.20482758
+v 0.06488475 0.09504580 0.20885056
+v 0.06360158 0.09506134 0.21028631
+v 0.04741285 0.09336817 0.21028631
+v 0.04741285 0.09489358 0.20482758
+v 0.06629624 0.09667684 0.20482758
+v 0.06105976 0.10126858 0.20656041
+v 0.06034270 0.09955367 0.20953557
+v 0.06108429 0.09794438 0.21028631
+v 0.04845260 0.10775233 0.21028631
+v 0.05089628 0.10946103 0.20482758
+v 0.06211461 0.10137111 0.20482758
+v 0.06210518 0.10134625 0.20488636
+v 0.05743292 0.10502773 0.20637126
+v 0.05618937 0.10472327 0.20840386
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+v 0.05792354 0.10169731 0.20982251
+v 0.05666112 0.10250817 0.21028631
+v 0.05761030 0.10154509 0.21028631
+v 0.04880358 0.10835193 0.21028631
+v 0.05111895 0.11023150 0.20482758
+v 0.05856890 0.10486618 0.20482758
+v 0.05349282 0.10961947 0.20482758
+v 0.05339470 0.10881173 0.20618852
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+v 0.05420423 0.10491589 0.21028631
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+v 0.05106423 0.10982762 0.20733840
+v 0.05109254 0.11021596 0.20494032
+v 0.05116613 0.11026257 0.20482758
+v 0.05307013 0.10993947 0.20482758
+v 0.05052643 0.10821523 0.21028631
+v 0.05175488 0.11048936 0.20482758
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 28
+f 1 28 29
+f 1 29 24
+f 1 24 12
+f 1 12 5
+f 1 5 6
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+f 44 54 45
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+f 49 52 57
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+f 53 58 55
+f 53 55 54
+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_039.obj b/data/object_data/hug_release/pitcher_base/collision/part_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f232268720b910b7b0743bbf7bd807dbce158da
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_039.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00048862 -0.02999494 0.23273503
+v -0.00915344 -0.03076279 0.23286774
+v -0.01257539 -0.03148054 0.23292462
+v -0.00816606 -0.03145674 0.23281087
+v -0.00245924 -0.03067448 0.23273882
+v -0.00014586 -0.03066885 0.23249994
+v 0.00048862 -0.03035069 0.23257578
+v 0.00048862 -0.02972751 0.23267815
+v -0.02195725 -0.03087991 0.23293600
+v -0.01642153 -0.03145549 0.23292462
+v -0.01433984 -0.03218638 0.23242410
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_040.obj b/data/object_data/hug_release/pitcher_base/collision/part_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d70f6d77b0dc4a27c8bc51f2bfc061edb6a046b
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_040.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_041.obj b/data/object_data/hug_release/pitcher_base/collision/part_041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0904af87e9fd57917b633162db7cf3253265bac8
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_041.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_042.obj b/data/object_data/hug_release/pitcher_base/collision/part_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e38ba66d8e1186c5a64a1b3d5d780730dc0aa6e
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_042.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.04741453 0.07305977 0.22439111
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_043.obj b/data/object_data/hug_release/pitcher_base/collision/part_043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48376f46c8ff1ab6eadcbcb6a40d2fb9cb6e25db
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_043.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_044.obj b/data/object_data/hug_release/pitcher_base/collision/part_044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0fcec911f578959c72a4b100b155ad268d86edd
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_044.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/pitcher_base/collision/part_045.obj b/data/object_data/hug_release/pitcher_base/collision/part_045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daba0e40da5beb0d34d365f7addd30b5721c66b2
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_045.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.04445200 0.09791890 0.17021512
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_046.obj b/data/object_data/hug_release/pitcher_base/collision/part_046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25495b63dbe0e5359b76c64460b6cfbaf331478c
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_046.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_047.obj b/data/object_data/hug_release/pitcher_base/collision/part_047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11e053a4352b8d42bdc6bf1c12bd01639002d60
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_047.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_048.obj b/data/object_data/hug_release/pitcher_base/collision/part_048.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651c48d115dba6c01342965e73cc6db9e4fc3e62
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_048.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05136548 0.08906238 0.15536172
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+v 0.05282977 0.08833170 0.15536172
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_049.obj b/data/object_data/hug_release/pitcher_base/collision/part_049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28d931b95f8be8ded93245862b88a592f4bdd7e
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_049.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_050.obj b/data/object_data/hug_release/pitcher_base/collision/part_050.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dcf1b0aaf7a0a64a3de0f668b269333f57f42a3
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_050.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_051.obj b/data/object_data/hug_release/pitcher_base/collision/part_051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aae2bad9c8c08957d2257f89d1fecf99fe4480b
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_051.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.03163298 0.07305977 0.07345332
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_052.obj b/data/object_data/hug_release/pitcher_base/collision/part_052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d257eddb1008d8674474809ced66c5b557b118
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_052.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.04729071 0.00798219 0.23098390
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_053.obj b/data/object_data/hug_release/pitcher_base/collision/part_053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61bfd2ce2034bba926b43ef9382a941a16bd570a
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_053.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_054.obj b/data/object_data/hug_release/pitcher_base/collision/part_054.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8799d2b79a2b2450e39ec7f3b38304a835cf6d
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_054.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_055.obj b/data/object_data/hug_release/pitcher_base/collision/part_055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3882ca15b917996ae3b5bfba04974c38853533a5
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_055.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_056.obj b/data/object_data/hug_release/pitcher_base/collision/part_056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82afe955288de8ef6c15b1e5aefc9ee20570f752
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_056.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_057.obj b/data/object_data/hug_release/pitcher_base/collision/part_057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0b46753b5fcc631db90d1d226c491f3f9ec7f3
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_057.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_058.obj b/data/object_data/hug_release/pitcher_base/collision/part_058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da05d534471de82b294c190ec3c8d1b2f4e74c07
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_058.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_059.obj b/data/object_data/hug_release/pitcher_base/collision/part_059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f963ce4bcb70b1bc71e2fcde57b7f4cccbe92ff
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_059.obj
@@ -0,0 +1,412 @@
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_060.obj b/data/object_data/hug_release/pitcher_base/collision/part_060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5febf8f653fbc71fd485a67f859d8fc82f82537d
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_060.obj
@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/pitcher_base/collision/part_061.obj b/data/object_data/hug_release/pitcher_base/collision/part_061.obj
new file mode 100644
index 0000000000000000000000000000000000000000..395d41b58fddbbded988a822ee7580e4b01d2d90
--- /dev/null
+++ b/data/object_data/hug_release/pitcher_base/collision/part_061.obj
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diff --git a/data/object_data/hug_release/plum/collision/part_000.obj b/data/object_data/hug_release/plum/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e744e5c7643137a4bc08dc07e4cf266199bdd2d
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_000.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/plum/collision/part_001.obj b/data/object_data/hug_release/plum/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83f64b14a7cb40793df65e3db5d629c14d5cdb9
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_001.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/plum/collision/part_002.obj b/data/object_data/hug_release/plum/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5112159ffad4453deda02b25ddce763f5aa9d5
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_002.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/plum/collision/part_003.obj b/data/object_data/hug_release/plum/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c02306629265f38ecf0ae6a5c0ef544f338fa3b
--- /dev/null
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diff --git a/data/object_data/hug_release/plum/collision/part_004.obj b/data/object_data/hug_release/plum/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9da6eb4f238178c608473728d14eb41e24461c
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_004.obj
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diff --git a/data/object_data/hug_release/plum/collision/part_005.obj b/data/object_data/hug_release/plum/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70c9bdb30dee349b384736e56d7507ee91ed4d6
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_005.obj
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diff --git a/data/object_data/hug_release/plum/collision/part_006.obj b/data/object_data/hug_release/plum/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5226e1d13203a6d744034b0e4d28f93ae1085fee
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_006.obj
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diff --git a/data/object_data/hug_release/plum/collision/part_007.obj b/data/object_data/hug_release/plum/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd2f4094433e853337d3a202bd0c19d70279c1c
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_007.obj
@@ -0,0 +1,2224 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/plum/collision/part_008.obj b/data/object_data/hug_release/plum/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3e0436439647338821f15ad6270c28b1209043
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_008.obj
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diff --git a/data/object_data/hug_release/plum/collision/part_009.obj b/data/object_data/hug_release/plum/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429b2bd9b2c6d4285d2e7bd6076fd767e0e27e75
--- /dev/null
+++ b/data/object_data/hug_release/plum/collision/part_009.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..0a00c31c3c66b422d50505ff954055fe4667a1ef
--- /dev/null
+++ b/data/object_data/hug_release/plum/plum.stl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/object_data/hug_release/plum/texture_map.png b/data/object_data/hug_release/plum/texture_map.png
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--- /dev/null
+++ b/data/object_data/hug_release/plum/texture_map.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/object_data/hug_release/plum/textured.mtl b/data/object_data/hug_release/plum/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd584d49c4df107e359a80dfdf7ea1111cc970ed
--- /dev/null
+++ b/data/object_data/hug_release/plum/textured.mtl
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diff --git a/data/object_data/hug_release/plum/textured.obj b/data/object_data/hug_release/plum/textured.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_000.obj b/data/object_data/hug_release/potted_meat_can/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18f212017b9f753c97cceed851fdf32d446165d
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_000.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_001.obj b/data/object_data/hug_release/potted_meat_can/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2101f6f0dff79ce82ea275c7af0d12f680e2d63
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_001.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02481227 0.02549879 0.03511289
+v 0.02481227 0.01543597 0.03512040
+v 0.02481227 0.02549879 0.03146610
+v -0.00147320 0.02549879 0.03510251
+v 0.02430282 0.01513473 0.03512040
+v 0.02481227 0.01232238 0.03512040
+v 0.02481227 0.00200661 0.03146610
+v -0.00147320 0.02549879 0.03146610
+v -0.00147320 0.00200661 0.03385699
+v 0.01264984 0.00200661 0.03512040
+v 0.01503755 0.00502132 0.03512040
+v 0.01530000 0.00532486 0.03512040
+v 0.02384483 0.01471161 0.03512040
+v 0.02481227 0.00200661 0.03420933
+v 0.01587892 0.00242513 0.03512040
+v -0.00147320 0.00200661 0.03146610
+v 0.01546209 0.00200661 0.03512040
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 17
+f 2 17 15
+f 2 15 6
+f 3 7 16
+f 3 16 8
+f 4 8 16
+f 4 16 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 15 14
+f 7 14 17
+f 7 17 10
+f 7 10 9
+f 7 9 16
+f 14 15 17
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_002.obj b/data/object_data/hug_release/potted_meat_can/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84dfb0b0f8eebe5c5799f8590df200ea5453e16
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_002.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02481227 0.00200661 0.03146610
+v 0.03759981 0.00200661 0.03146610
+v 0.02481227 0.00200661 0.03420977
+v 0.02481227 0.02551228 0.03146610
+v 0.03759981 0.00200661 0.03485607
+v 0.03759981 0.02497387 0.03146610
+v 0.02481227 0.01323945 0.03679607
+v 0.02481227 0.02551228 0.03511329
+v 0.03645323 0.02551228 0.03146610
+v 0.03759981 0.01264352 0.03664412
+v 0.02481227 0.01436687 0.03700987
+v 0.02481227 0.01417820 0.03697677
+v 0.03759981 0.02551228 0.03263933
+v 0.02818064 0.02551228 0.03525601
+v 0.03759981 0.01303697 0.03662893
+v 0.03615032 0.01481554 0.03672552
+v 0.03223870 0.01573819 0.03679010
+v 0.02555454 0.01473961 0.03696917
+v 0.03759981 0.02551228 0.03556804
+v 0.03295719 0.02551228 0.03543183
+v 0.03151772 0.02551228 0.03537974
+v 0.02831082 0.02551228 0.03526089
+v 0.03759981 0.01404705 0.03658389
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 23
+f 2 23 15
+f 2 15 10
+f 2 10 5
+f 3 5 7
+f 4 8 14
+f 4 14 22
+f 4 22 21
+f 4 21 20
+f 4 20 19
+f 4 19 13
+f 4 13 9
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 9 13
+f 8 11 14
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 15 23 16
+f 16 23 19
+f 16 19 17
+f 17 19 18
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_003.obj b/data/object_data/hug_release/potted_meat_can/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe74be44f5a89327c67dde8aeed4c2762c0d29f4
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_003.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02554722 0.00200661 0.03422718
+v 0.02554722 -0.00295921 0.03442892
+v 0.02554722 0.00200661 0.03146641
+v 0.01532464 0.00200661 0.03466130
+v 0.02554722 -0.01232340 0.03466130
+v 0.02554722 -0.01986956 0.03146641
+v -0.00147320 0.00200661 0.03146641
+v 0.01278288 0.00200661 0.03466130
+v 0.02554722 -0.01986956 0.03466130
+v -0.00147320 -0.01986956 0.03146641
+v -0.00147320 0.00200661 0.03385687
+v 0.00932862 -0.00150737 0.03466130
+v 0.01306853 -0.01986956 0.03466130
+v -0.00147320 -0.01986956 0.03461970
+v 0.00774961 -0.00389499 0.03466130
+v 0.00897949 -0.00195277 0.03466130
+v 0.00985760 -0.01643053 0.03466130
+v 0.00639012 -0.01986956 0.03465442
+v 0.00230109 -0.01986956 0.03464097
+v 0.00677628 -0.00765094 0.03466130
+v 0.00678422 -0.00755458 0.03466130
+v 0.00699052 -0.00619910 0.03466130
+v 0.00704871 -0.00591215 0.03466130
+v 0.00707251 -0.00583721 0.03466130
+v 0.00955344 -0.01609862 0.03466130
+v 0.00913290 -0.01552902 0.03466130
+v 0.00852192 -0.01458253 0.03466130
+v 0.00743222 -0.01273882 0.03466130
+v 0.00677893 -0.01056748 0.03466130
+f 1 2 5
+f 1 5 9
+f 1 9 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 7
+f 4 8 12
+f 4 12 16
+f 4 16 15
+f 4 15 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 17
+f 4 17 13
+f 4 13 9
+f 4 9 5
+f 6 9 13
+f 6 13 18
+f 6 18 19
+f 6 19 14
+f 6 14 10
+f 7 10 14
+f 7 14 11
+f 8 11 12
+f 11 14 15
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 20
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_004.obj b/data/object_data/hug_release/potted_meat_can/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3b1c1471eb2e20d99893fee5d553c87721d68e
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_004.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02554722 -0.01223280 0.03481335
+v 0.02554722 -0.01293473 0.03613583
+v 0.02554722 -0.01232550 0.03466130
+v 0.01573101 -0.01613864 0.03466376
+v 0.02554722 -0.01375253 0.03662194
+v 0.01573101 -0.01704315 0.03612844
+v 0.01573101 -0.01718145 0.03622283
+v 0.02554722 -0.01986956 0.03466130
+v 0.01575503 -0.01614089 0.03466130
+v 0.01573101 -0.01621639 0.03466130
+v 0.02554722 -0.01538812 0.03672023
+v 0.01573101 -0.01793720 0.03647174
+v 0.02554722 -0.01986956 0.03598604
+v 0.01573101 -0.01986956 0.03466130
+v 0.02486213 -0.01619620 0.03672351
+v 0.02554722 -0.01750886 0.03675757
+v 0.01573101 -0.01812782 0.03646969
+v 0.01618550 -0.01815996 0.03648754
+v 0.02272612 -0.01861595 0.03669047
+v 0.02107823 -0.01726293 0.03662461
+v 0.02554722 -0.01981424 0.03607038
+v 0.01693017 -0.01986956 0.03498797
+v 0.01573101 -0.01986956 0.03469352
+v 0.02554722 -0.01893216 0.03675675
+v 0.01573101 -0.01839319 0.03632317
+v 0.01802940 -0.01916464 0.03613152
+v 0.02101481 -0.01874004 0.03657043
+v 0.02554722 -0.01969987 0.03623864
+v 0.01608365 -0.01910484 0.03590950
+v 0.01573101 -0.01902560 0.03593987
+v 0.02486981 -0.01892319 0.03672249
+v 0.02554722 -0.01948234 0.03638781
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 24
+f 1 24 32
+f 1 32 28
+f 1 28 21
+f 1 21 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 14
+f 3 14 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 4 10 14
+f 4 14 23
+f 4 23 30
+f 4 30 25
+f 4 25 17
+f 4 17 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 11
+f 8 13 22
+f 8 22 23
+f 8 23 14
+f 11 15 16
+f 11 12 15
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 15
+f 13 21 22
+f 15 20 19
+f 15 19 16
+f 16 19 24
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 24
+f 18 24 19
+f 21 28 22
+f 22 28 26
+f 22 26 29
+f 22 29 23
+f 23 29 30
+f 24 27 31
+f 24 31 32
+f 25 30 26
+f 26 30 29
+f 26 28 32
+f 26 32 31
+f 26 31 27
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_005.obj b/data/object_data/hug_release/potted_meat_can/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f8ccecaf92b3940e31c7ffa3c7d1b828fa6dd1
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_005.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03760062 0.00200807 0.03146610
+v 0.04587167 0.00200807 0.03146610
+v 0.03760062 0.00200807 0.03485575
+v 0.03760062 0.01689010 0.03146610
+v 0.04587167 0.00200807 0.03529007
+v 0.04587167 0.01576976 0.03146610
+v 0.03858602 0.00200807 0.03640263
+v 0.03760062 0.01264038 0.03664391
+v 0.03760062 0.01689010 0.03507583
+v 0.04535670 0.01689010 0.03146610
+v 0.04178351 0.00200807 0.03687459
+v 0.04587167 0.00427060 0.03534946
+v 0.04587167 0.01689010 0.03263329
+v 0.03894471 0.00200807 0.03661209
+v 0.03760062 0.01303374 0.03662906
+v 0.03928883 0.00200807 0.03680088
+v 0.03986696 0.00200807 0.03684913
+v 0.04029529 0.00200807 0.03687512
+v 0.04049204 0.00250049 0.03687936
+v 0.04056977 0.00930121 0.03681042
+v 0.04409276 0.01689010 0.03540567
+v 0.03760062 0.01408561 0.03656861
+v 0.04169363 0.00360772 0.03684436
+v 0.04141914 0.00528605 0.03684754
+v 0.04142400 0.00200807 0.03687883
+v 0.04587167 0.00505732 0.03536537
+v 0.04587167 0.00537055 0.03537014
+v 0.04587167 0.01349557 0.03545552
+v 0.04587167 0.01689010 0.03541893
+v 0.03760062 0.01404627 0.03658399
+v 0.04064750 0.00200807 0.03688360
+v 0.03903945 0.01243642 0.03665717
+v 0.04572754 0.01689010 0.03543272
+f 1 2 5
+f 1 5 11
+f 1 11 25
+f 1 25 31
+f 1 31 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 30
+f 1 30 22
+f 1 22 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 13
+f 2 13 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 12
+f 2 12 5
+f 3 7 8
+f 4 9 21
+f 4 21 33
+f 4 33 29
+f 4 29 13
+f 4 13 10
+f 5 12 11
+f 6 10 13
+f 7 14 8
+f 8 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 15
+f 9 22 21
+f 11 23 24
+f 11 24 25
+f 11 12 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 23
+f 15 20 30
+f 18 31 19
+f 19 31 24
+f 19 24 20
+f 20 24 29
+f 20 29 32
+f 20 32 30
+f 21 22 33
+f 22 30 33
+f 23 29 24
+f 24 31 25
+f 29 33 30
+f 29 30 32
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_006.obj b/data/object_data/hug_release/potted_meat_can/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef095fa122c5d8f9cc1832cc721601b985c3648d
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_006.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04563542 -0.01986956 0.03511520
+v 0.04560776 -0.01990133 0.03511520
+v 0.04494374 -0.02040152 0.03396349
+v 0.04538180 -0.01986956 0.03402422
+v 0.01953109 -0.01986956 0.03511520
+v 0.04442727 -0.02113076 0.03511520
+v 0.04301623 -0.02211489 0.03396349
+v 0.04295167 -0.01995970 0.03146610
+v 0.04300701 -0.01986956 0.03146610
+v -0.00147320 -0.01986956 0.03461972
+v 0.01913913 -0.01987030 0.03511520
+v 0.04394770 -0.02155633 0.03511520
+v 0.04249516 -0.02029365 0.03146610
+v 0.04233376 -0.02282270 0.03511520
+v 0.04188647 -0.02311084 0.03511520
+v 0.04127779 -0.02327043 0.03413640
+v -0.00147320 -0.01986956 0.03146610
+v -0.00147320 -0.02605290 0.03511520
+v 0.03897216 -0.02434470 0.03404137
+v 0.03872776 -0.02203583 0.03146610
+v 0.04077055 -0.02377062 0.03511520
+v -0.00147320 -0.02584676 0.03146610
+v -0.00147320 -0.02741753 0.03511520
+v 0.03865859 -0.02474885 0.03511520
+v 0.03807757 -0.02492838 0.03511520
+v 0.03662963 -0.02508797 0.03412354
+v 0.03524626 -0.02346696 0.03146610
+v 0.03697087 -0.02281235 0.03146610
+v 0.04024025 -0.02402331 0.03511520
+v -0.00147320 -0.02721287 0.03440610
+v 0.00030675 -0.02576475 0.03146610
+v 0.03243339 -0.02553275 0.03394349
+v 0.00493184 -0.02679173 0.03408531
+v 0.03100390 -0.02594281 0.03511520
+v 0.03622846 -0.02544557 0.03511520
+v 0.03438856 -0.02550172 0.03418140
+v 0.03207371 -0.02407577 0.03146610
+v 0.03418567 -0.02575293 0.03511520
+v 0.03561055 -0.02555492 0.03511520
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 23
+f 1 23 34
+f 1 34 38
+f 1 38 39
+f 1 39 35
+f 1 35 25
+f 1 25 24
+f 1 24 29
+f 1 29 21
+f 1 21 15
+f 1 15 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 8 13 20
+f 8 20 28
+f 8 28 27
+f 8 27 37
+f 8 37 31
+f 8 31 22
+f 8 22 17
+f 8 17 9
+f 10 17 22
+f 10 22 30
+f 10 30 23
+f 10 23 18
+f 10 18 11
+f 13 16 19
+f 13 19 20
+f 15 21 16
+f 16 21 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 19 21 29
+f 19 29 24
+f 22 31 32
+f 22 32 33
+f 22 33 30
+f 23 30 34
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 30 33 32
+f 30 32 34
+f 31 37 32
+f 32 37 36
+f 32 36 34
+f 34 36 38
+f 35 39 36
+f 36 39 38
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_007.obj b/data/object_data/hug_release/potted_meat_can/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e5dbd17f73dc36359045df5734abd817e253c6
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_007.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00677889 -0.01056983 0.03466130
+v 0.00713203 -0.01051213 0.03569629
+v 0.00695152 -0.01051213 0.03515930
+v 0.00680079 -0.01051213 0.03469781
+v 0.00679817 -0.01051213 0.03466130
+v 0.00742997 -0.01274065 0.03466130
+v 0.00779100 -0.01270035 0.03588060
+v 0.00779100 -0.01051213 0.03625844
+v 0.00961454 -0.01051213 0.03466130
+v 0.00852006 -0.01458448 0.03466130
+v 0.00904496 -0.01534747 0.03493174
+v 0.00918516 -0.01488583 0.03587546
+v 0.00895295 -0.01364745 0.03628750
+v 0.00821424 -0.01158746 0.03629761
+v 0.00853496 -0.01051213 0.03635556
+v 0.00966975 -0.01051213 0.03472510
+v 0.01573101 -0.01613886 0.03466360
+v 0.01573101 -0.01621672 0.03466130
+v 0.00913259 -0.01552883 0.03466130
+v 0.00955233 -0.01609856 0.03466130
+v 0.00985727 -0.01643197 0.03466130
+v 0.01306973 -0.01986865 0.03466130
+v 0.01076686 -0.01649792 0.03594848
+v 0.01015784 -0.01505162 0.03635857
+v 0.00968552 -0.01306765 0.03640057
+v 0.00870934 -0.01051213 0.03636903
+v 0.00965398 -0.01051213 0.03522310
+v 0.01573101 -0.01704291 0.03612836
+v 0.00952691 -0.01051213 0.03597329
+v 0.01573101 -0.01986865 0.03466130
+v 0.01573101 -0.01986865 0.03469338
+v 0.01573101 -0.01902505 0.03593979
+v 0.01487400 -0.01883270 0.03601352
+v 0.01408184 -0.01801200 0.03640447
+v 0.01272185 -0.01809260 0.03577852
+v 0.01247473 -0.01707497 0.03636247
+v 0.01241515 -0.01627259 0.03640855
+v 0.01573101 -0.01812741 0.03646951
+v 0.01573101 -0.01793689 0.03647182
+v 0.01573101 -0.01718214 0.03622282
+v 0.01573101 -0.01839303 0.03632330
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 30
+f 1 30 22
+f 1 22 21
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+f 1 20 19
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+f 1 10 6
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+f 9 17 18
+f 10 19 11
+f 11 19 20
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+f 12 20 21
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+f 12 24 13
+f 13 25 14
+f 13 24 25
+f 14 25 15
+f 15 25 26
+f 16 27 17
+f 17 28 40
+f 17 40 39
+f 17 39 38
+f 17 38 41
+f 17 41 32
+f 17 32 31
+f 17 31 30
+f 17 30 18
+f 17 27 29
+f 17 29 28
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 34
+f 24 34 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 29
+f 28 29 40
+f 32 41 33
+f 33 41 34
+f 34 36 35
+f 34 41 38
+f 34 38 37
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_008.obj b/data/object_data/hug_release/potted_meat_can/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c448ff5b585b07691a02d770c7a1f4fabbdae2df
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_008.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01262056 0.00200792 0.03639410
+v 0.01683085 0.00674592 0.03636858
+v 0.01530331 0.00532478 0.03512040
+v 0.01504076 0.00501978 0.03512040
+v 0.01265159 0.00200792 0.03512040
+v 0.01312775 0.00200792 0.03676644
+v 0.02181924 0.01173106 0.03700253
+v 0.02320715 0.01382661 0.03654856
+v 0.02344822 0.01432749 0.03524163
+v 0.02384443 0.01471268 0.03512040
+v 0.01546442 0.00200792 0.03512040
+v 0.01317668 0.00200792 0.03679684
+v 0.02261284 0.01255272 0.03702561
+v 0.02430030 0.01410926 0.03703762
+v 0.02481227 0.01502426 0.03654762
+v 0.02481227 0.01533057 0.03603322
+v 0.02454137 0.01520305 0.03588871
+v 0.02430508 0.01513469 0.03512040
+v 0.01587972 0.00242598 0.03512040
+v 0.01545726 0.00200792 0.03543662
+v 0.01450493 0.00200792 0.03666228
+v 0.01442139 0.00314378 0.03682255
+v 0.02361888 0.01185858 0.03683944
+v 0.02481227 0.01436693 0.03700985
+v 0.02481227 0.01496247 0.03660373
+v 0.02481227 0.01537658 0.03580182
+v 0.02437668 0.01517807 0.03512040
+v 0.02481227 0.01232134 0.03512040
+v 0.02481227 0.01223194 0.03542855
+v 0.01532718 0.00200792 0.03616515
+v 0.02258182 0.00992342 0.03633049
+v 0.01487249 0.00200792 0.03661818
+v 0.01676641 0.00422311 0.03668349
+v 0.02481227 0.01262239 0.03647030
+v 0.02481227 0.01323765 0.03679628
+v 0.02481227 0.01417762 0.03697682
+v 0.02481227 0.01543706 0.03512040
+v 0.02481227 0.01227401 0.03568078
+v 0.01562314 0.00237077 0.03629258
+v 0.01510162 0.00200792 0.03644290
+v 0.02481227 0.01242914 0.03626987
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+f 1 21 12
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+f 18 26 27
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+f 21 32 22
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+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 23 33 32
+f 23 32 31
+f 26 37 27
+f 29 38 31
+f 30 39 40
+f 30 31 39
+f 31 38 41
+f 31 41 34
+f 31 32 40
+f 31 40 39
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_009.obj b/data/object_data/hug_release/potted_meat_can/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ac668ec32d26296106aa337747cc4a05b66016
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_009.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04715338 -0.01987002 0.03633476
+v 0.04710950 -0.01987002 0.03623839
+v 0.04715064 -0.01987002 0.03743641
+v 0.04571899 -0.02171250 0.03686070
+v 0.04561203 -0.02138166 0.03595283
+v 0.04681604 -0.01987002 0.03585858
+v 0.04694768 -0.01987002 0.03802095
+v 0.04639916 -0.02038365 0.03828145
+v 0.04453966 -0.02224807 0.03833546
+v 0.04334662 -0.02343983 0.03824757
+v 0.04430654 -0.02285080 0.03733334
+v 0.04376075 -0.02310808 0.03605378
+v 0.04442721 -0.02113033 0.03511556
+v 0.04560928 -0.01990109 0.03511556
+v 0.04394999 -0.02155622 0.03511556
+v 0.04563397 -0.01987002 0.03511556
+v 0.04675570 -0.01987002 0.03828639
+v 0.04668713 -0.01987002 0.03833228
+v 0.04622363 -0.01988236 0.03862031
+v 0.04475084 -0.02125234 0.03872162
+v 0.04351392 -0.02278591 0.03854160
+v 0.04197530 -0.02453792 0.03760549
+v 0.04198353 -0.02453792 0.03755996
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+v 0.04157762 -0.02453792 0.03611273
+v 0.04188480 -0.02311036 0.03511556
+v 0.04233459 -0.02282202 0.03511556
+v 0.01913746 -0.01987002 0.03511556
+v 0.04622912 -0.01987002 0.03862067
+v 0.03926833 -0.02453792 0.03839582
+v 0.04012678 -0.02453792 0.03849783
+v 0.04557911 -0.01987002 0.03854866
+v 0.02779867 -0.01987002 0.03630440
+v 0.02733517 -0.01987002 0.03624369
+v 0.04040927 -0.02442688 0.03849042
+v 0.04046686 -0.02453792 0.03844559
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+v 0.04023922 -0.02402338 0.03511556
+v 0.04076855 -0.02377067 0.03511556
+v 0.02150983 -0.02453792 0.03511556
+v 0.01913746 -0.01987002 0.03511591
+v 0.03814934 -0.02453792 0.03823027
+v 0.01938978 -0.01987002 0.03516109
+f 1 2 6
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+f 1 43 45
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+f 22 32 31
+f 22 31 44
+f 22 44 42
+f 22 42 39
+f 22 39 26
+f 22 26 25
+f 22 25 23
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 29 42 43
+f 31 35 45
+f 31 45 44
+f 32 37 36
+f 42 44 43
+f 43 44 45
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_010.obj b/data/object_data/hug_release/potted_meat_can/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2587e3bbdbc4bdde3784bb22218c7bd1ee513bb0
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_010.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00677510 -0.00764835 0.03466130
+v 0.00705596 -0.00830517 0.03584847
+v 0.00724575 -0.00702462 0.03614761
+v 0.00678361 -0.00755277 0.03466130
+v 0.00678787 -0.00975605 0.03466130
+v 0.00680064 -0.01051212 0.03469788
+v 0.00742448 -0.00957959 0.03622454
+v 0.00695128 -0.01051212 0.03515925
+v 0.00712575 -0.01049129 0.03569482
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+v 0.00847215 -0.00273693 0.03653058
+v 0.00742788 -0.00517304 0.03599543
+v 0.00699043 -0.00619747 0.03466130
+v 0.00679808 -0.01051212 0.03466130
+v 0.00713171 -0.01051212 0.03569649
+v 0.00779129 -0.01051212 0.03625841
+v 0.00858960 -0.00425888 0.03665559
+v 0.00981941 -0.00172352 0.03672060
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+v 0.01262031 0.00200539 0.03639407
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+v 0.00932664 -0.00150540 0.03466130
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+v 0.00774789 -0.00389616 0.03466130
+v 0.00707043 -0.00583598 0.03466130
+v 0.00966962 -0.01051212 0.03472527
+v 0.01532504 0.00200539 0.03466130
+v 0.00952664 -0.01051212 0.03597327
+v 0.01487142 0.00200539 0.03661817
+v 0.01450375 0.00200539 0.03666228
+v 0.00965345 -0.01051212 0.03522301
+v 0.01546888 0.00200539 0.03484986
+v 0.01545611 0.00200539 0.03543665
+v 0.01532589 0.00200539 0.03616517
+v 0.01510036 0.00200539 0.03644299
+f 1 2 3
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+f 43 48 49
+f 43 49 50
+f 43 50 44
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_011.obj b/data/object_data/hug_release/potted_meat_can/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce6da21a5225ea2e94c5f32e1545480be639794
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_011.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.03504758 0.02379757 0.03576996
+v -0.03910799 0.02379757 0.03831427
+v -0.03463189 0.02340252 0.03576996
+v -0.04071177 0.02379757 0.03576996
+v -0.03597150 0.02138037 0.03576996
+v -0.04049856 0.02379757 0.03887783
+v -0.04832839 0.01452004 0.03875740
+v -0.04133666 0.02346709 0.03576996
+v -0.04112613 0.02379757 0.03589538
+v -0.04832839 0.01414144 0.03858108
+v -0.04610643 0.01158749 0.03576996
+v -0.04150562 0.02379757 0.03894702
+v -0.04832839 0.01611293 0.03916825
+v -0.04832839 0.01578625 0.03914929
+v -0.04141443 0.02342531 0.03576996
+v -0.04320193 0.02329362 0.03625567
+v -0.04220157 0.02379757 0.03623371
+v -0.04832839 0.01086195 0.03576996
+v -0.04192802 0.02379757 0.03896099
+v -0.04657979 0.01965200 0.03912533
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+v -0.04389386 0.02169946 0.03576996
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+v -0.04731463 0.01793501 0.03576996
+v -0.04288948 0.02379757 0.03813163
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+v -0.04738302 0.01960641 0.03818453
+v -0.04305844 0.02379757 0.03793336
+v -0.04308526 0.02379757 0.03789576
+v -0.04310136 0.02379757 0.03783256
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+v -0.04826939 0.01819458 0.03662893
+v -0.04832839 0.01806923 0.03659999
+v -0.04832839 0.01814520 0.03794234
+v -0.04832839 0.01810595 0.03677265
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+f 1 18 28
+f 1 28 42
+f 1 42 37
+f 1 37 36
+f 1 36 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
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+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_012.obj b/data/object_data/hug_release/potted_meat_can/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d786a5af96d0febae90c8f067f7103507f9968a2
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_012.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02554907 -0.01986956 0.03146610
+v 0.04300955 -0.01986956 0.03146610
+v 0.02554907 -0.01986956 0.03598611
+v 0.02554907 0.00200661 0.03146610
+v 0.04442702 -0.01763612 0.03146610
+v 0.04442702 -0.01986956 0.03343623
+v 0.02733430 -0.01986956 0.03624333
+v 0.02743594 -0.01976678 0.03641519
+v 0.02554907 -0.01981389 0.03607032
+v 0.02554907 0.00200661 0.03422737
+v 0.04442702 0.00200661 0.03146610
+v 0.04442702 -0.01986956 0.03638598
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+v 0.02554907 -0.01893164 0.03675663
+v 0.02554907 -0.01948198 0.03638769
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+v 0.04284877 -0.01613716 0.03725045
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+v 0.02554907 -0.01750764 0.03675720
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+v 0.04386151 -0.00953962 0.03718858
+v 0.04260113 -0.00213479 0.03699208
+v 0.04064588 0.00200661 0.03688323
+v 0.04029475 0.00200661 0.03687521
+v 0.03814731 -0.01986956 0.03700182
+v 0.04178244 0.00200661 0.03687464
+v 0.04142207 0.00200661 0.03687865
+v 0.04442702 -0.01144972 0.03708259
+v 0.04442702 -0.01253325 0.03709233
+f 1 2 6
+f 1 6 12
+f 1 12 27
+f 1 27 44
+f 1 44 51
+f 1 51 35
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+f 1 19 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
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+f 30 48 49
+f 30 49 50
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+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_013.obj b/data/object_data/hug_release/potted_meat_can/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487bfd15e8ab627288b3e15a9860db865ebd95aa
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_013.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.03271086 0.02379800 0.03146684
+v -0.03837895 0.02379800 0.03390491
+v -0.03776773 0.02404104 0.03389601
+v -0.03792257 0.02571619 0.03624729
+v -0.03575476 0.02624471 0.03631850
+v -0.03357065 0.02687568 0.03686293
+v -0.03187959 0.02387602 0.03146684
+v -0.00147320 0.02379800 0.03146684
+v -0.03948323 0.02379800 0.03443228
+v -0.03907575 0.02408605 0.03457469
+v -0.04061603 0.02459700 0.03619834
+v -0.03976847 0.02539685 0.03723899
+v -0.03731950 0.02617741 0.03746521
+v -0.02267455 0.02459271 0.03146684
+v -0.02705092 0.02426351 0.03146684
+v -0.03316317 0.02698669 0.03764100
+v -0.00194180 0.02816375 0.03667824
+v -0.00147320 0.02567118 0.03146684
+v -0.00147320 0.02379800 0.03497671
+v -0.04220114 0.02379800 0.03623320
+v -0.04258825 0.02379800 0.03654176
+v -0.04225819 0.02406891 0.03669604
+v -0.04300796 0.02387387 0.03786723
+v -0.04162659 0.02459014 0.03816541
+v -0.03795109 0.02594980 0.03826035
+v -0.03543285 0.02656062 0.03809346
+v -0.03385181 0.02653147 0.03875360
+v -0.03207926 0.02664935 0.03878327
+v -0.02572252 0.02713158 0.03843836
+v -0.00147320 0.02810546 0.03858374
+v -0.00147320 0.02817661 0.03702388
+v -0.00147320 0.02816890 0.03665895
+v -0.00147320 0.02695112 0.03863863
+v -0.04049786 0.02379800 0.03887747
+v -0.04271457 0.02379800 0.03668936
+v -0.04309761 0.02379800 0.03775597
+v -0.04310168 0.02379800 0.03783237
+v -0.04308538 0.02379800 0.03789542
+v -0.04305686 0.02379800 0.03793325
+v -0.04288979 0.02379800 0.03813129
+v -0.03986219 0.02514781 0.03864827
+v -0.04232339 0.02379800 0.03875657
+v -0.03833413 0.02545986 0.03890936
+v -0.03597480 0.02616841 0.03876992
+v -0.03266603 0.02611440 0.03895090
+v -0.02491163 0.02678652 0.03894422
+v -0.01677827 0.02729875 0.03879217
+v -0.00147320 0.02809903 0.03860303
+v -0.00147320 0.02760009 0.03887376
+v -0.00407294 0.02720959 0.03893235
+v -0.00299719 0.02700041 0.03876917
+v -0.04150435 0.02379800 0.03894719
+v -0.04192813 0.02379800 0.03896054
+v -0.04137803 0.02400718 0.03899021
+v -0.03936506 0.02477617 0.03901394
+v -0.01343691 0.02710071 0.03904361
+v -0.00518130 0.02773340 0.03885151
+v -0.00147320 0.02773039 0.03884854
+v -0.00559285 0.02746035 0.03900950
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 14
+f 1 14 18
+f 1 18 8
+f 1 8 19
+f 1 19 34
+f 1 34 52
+f 1 52 53
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+f 1 42 40
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+f 1 38 37
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+f 1 35 21
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+f 47 57 48
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+f 49 59 50
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+f 50 52 51
+f 53 59 54
+f 54 59 56
+f 54 56 55
+f 56 59 57
+f 57 59 58
+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_014.obj b/data/object_data/hug_release/potted_meat_can/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07f296a71d1e8fc936948d6a7ff179943e1dd8d
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_014.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04987663 0.00032562 0.03576375
+v -0.04832159 0.00032562 0.03576375
+v -0.04967882 0.00032562 0.03477211
+v -0.04963537 -0.00188243 0.03452557
+v -0.04977143 -0.00321564 0.03576375
+v -0.04267312 0.00032562 0.03540025
+v -0.03819665 -0.02592777 0.03576375
+v -0.04816723 0.00032562 0.03146610
+v -0.04813864 -0.00153026 0.03146610
+v -0.04938382 -0.00764291 0.03472920
+v -0.04964795 -0.00595194 0.03576375
+v -0.04966281 -0.00563331 0.03576375
+v -0.03819665 0.00032562 0.03505736
+v -0.03819665 -0.02822805 0.03576375
+v -0.03819665 0.00032562 0.03146610
+v -0.04741486 -0.00940376 0.03146610
+v -0.04897448 -0.01243633 0.03468040
+v -0.04925918 -0.01014164 0.03490422
+v -0.04931178 -0.01190807 0.03576375
+v -0.04954161 -0.00789446 0.03576375
+v -0.03924516 -0.02784793 0.03576375
+v -0.03835673 -0.02744545 0.03421424
+v -0.03819665 -0.02750135 0.03421382
+v -0.03819665 -0.02533243 0.03146610
+v -0.04715759 -0.01196397 0.03146610
+v -0.04926376 -0.01239720 0.03576375
+v -0.04850911 -0.01457170 0.03443259
+v -0.04894932 -0.01495182 0.03576375
+v -0.04898705 -0.01473381 0.03576375
+v -0.04058867 -0.02710166 0.03576375
+v -0.04014274 -0.02666005 0.03434424
+v -0.03848937 -0.02516473 0.03146610
+v -0.04684201 -0.01393445 0.03146610
+v -0.04812606 -0.01612293 0.03430133
+v -0.04892302 -0.01506921 0.03576375
+v -0.04262738 -0.02572932 0.03576375
+v -0.04207054 -0.02545821 0.03440441
+v -0.04085966 -0.02569299 0.03378258
+v -0.04102889 -0.02334519 0.03146610
+v -0.04592042 -0.01685521 0.03146610
+v -0.04762753 -0.01799278 0.03440525
+v -0.04855484 -0.01659528 0.03576375
+v -0.04486276 -0.02332842 0.03576375
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+v -0.04789967 -0.01844277 0.03576375
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+v -0.04853426 -0.01666516 0.03576375
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+v -0.04408638 -0.02005548 0.03146610
+v -0.04308589 -0.02138870 0.03146610
+v -0.04296469 -0.02153962 0.03146610
+v -0.04503656 -0.01858532 0.03146610
+v -0.04631832 -0.02134118 0.03576375
+f 1 2 6
+f 1 6 13
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+f 1 15 8
+f 1 8 3
+f 1 3 4
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+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_015.obj b/data/object_data/hug_release/potted_meat_can/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7352178c347902a830ee433d0c6f17f8e41a952
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_015.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04881012 0.01454598 0.03897262
+v 0.04915020 0.01243059 0.03895057
+v 0.04936895 0.01334406 0.03886314
+v 0.04932701 0.01470333 0.03875439
+v 0.04867437 0.01673422 0.03878231
+v 0.04860355 0.01689010 0.03878966
+v 0.04814441 0.01689010 0.03892633
+v 0.04821206 0.01641225 0.03894690
+v 0.04977894 0.00248301 0.03895498
+v 0.04961431 0.01054247 0.03888812
+v 0.04981412 0.01199061 0.03869414
+v 0.04947224 0.01550315 0.03823122
+v 0.04973519 0.01409435 0.03827825
+v 0.04900632 0.01689010 0.03809456
+v 0.04866129 0.01689010 0.03869781
+v 0.04802308 0.01689010 0.03892780
+v 0.04935136 0.00324933 0.03892118
+v 0.04976180 0.00200807 0.03893220
+v 0.04995980 0.00200807 0.03876688
+v 0.04988718 0.00516367 0.03882493
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+v 0.04972933 0.01486650 0.03668451
+v 0.04910239 0.01682309 0.03667496
+v 0.05011135 0.01255734 0.03683735
+v 0.04907623 0.01689010 0.03673521
+v 0.04758468 0.01689010 0.03865666
+v 0.04915877 0.00200807 0.03879701
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+v 0.05043338 0.00200807 0.03778815
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+v 0.04991019 0.01294778 0.03625761
+v 0.04883177 0.01689010 0.03620323
+v 0.04906135 0.01689010 0.03663969
+v 0.04907578 0.01689010 0.03667422
+v 0.05047262 0.00200807 0.03736418
+v 0.05047939 0.00301623 0.03648024
+v 0.05012533 0.01111794 0.03634210
+v 0.04726625 0.01689010 0.03827384
+v 0.04587212 0.00200807 0.03528990
+v 0.04894633 0.00200807 0.03861037
+v 0.04671870 0.01314009 0.03146684
+v 0.04804067 0.01549441 0.03426415
+v 0.04771999 0.00467124 0.03146684
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+v 0.04719048 0.00978635 0.03146684
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+v 0.04722927 0.01689010 0.03384238
+v 0.05041128 0.00200807 0.03647877
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+v 0.04790310 0.00200807 0.03146684
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+v 0.04587212 0.00505732 0.03536558
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+v 0.04587212 0.00200807 0.03146684
+v 0.04600517 0.01551044 0.03146684
+v 0.04587212 0.01576976 0.03146684
+v 0.04587212 0.01689010 0.03263367
+f 1 2 3
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+
diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_016.obj b/data/object_data/hug_release/potted_meat_can/collision/part_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84980d623fcecb84dda5e1e4f24eefe6bc3eb5c
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_016.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00147796 0.02379758 0.03497584
+v -0.00147796 0.02379758 0.03146610
+v -0.00148750 0.02379758 0.03497626
+v -0.00295072 0.01680148 0.03480438
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_017.obj b/data/object_data/hug_release/potted_meat_can/collision/part_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb87a45e157e743d0d3589e9f98daad3f51c2ef
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_017.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_018.obj b/data/object_data/hug_release/potted_meat_can/collision/part_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917c2cb2cac4dce3adfb180e05dba17564336c08
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_018.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_019.obj b/data/object_data/hug_release/potted_meat_can/collision/part_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36516948944356bab02eb275a02900b20cb699ef
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_019.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_020.obj b/data/object_data/hug_release/potted_meat_can/collision/part_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd4adf9980a565b6ba8432cedb0e71e9565ef0a
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_020.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_021.obj b/data/object_data/hug_release/potted_meat_can/collision/part_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991702e1b4ec81367f1e73c301164225f8344ea5
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_021.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_022.obj b/data/object_data/hug_release/potted_meat_can/collision/part_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e0df4de0fdf20997490eb124e08b6409358fe7
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_022.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_023.obj b/data/object_data/hug_release/potted_meat_can/collision/part_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32fc09546c3947a6bdd6e253dffbc7905d88b084
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_023.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_024.obj b/data/object_data/hug_release/potted_meat_can/collision/part_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a6072409e32221784484837529bad16a1fef1a
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_024.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.00092581 0.00536940 0.03146610
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_025.obj b/data/object_data/hug_release/potted_meat_can/collision/part_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6509744a46d428151cfa991113bd5e4b70b7d9bc
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_025.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.04830439 -0.00577562 -0.00673375
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_026.obj b/data/object_data/hug_release/potted_meat_can/collision/part_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d2de546682e04f9aee4119b4d8b0b83776f083
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_026.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_027.obj b/data/object_data/hug_release/potted_meat_can/collision/part_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5af7a17784525d672dcf51f1b5910e7b436d56
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_027.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/potted_meat_can/collision/part_028.obj b/data/object_data/hug_release/potted_meat_can/collision/part_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c677f3acf480abda68a2aefedca9b9de2687dbf2
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/collision/part_028.obj
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--- /dev/null
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diff --git a/data/object_data/hug_release/potted_meat_can/potted_meat_can.stl b/data/object_data/hug_release/potted_meat_can/potted_meat_can.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5311bf822e9666139dec8544279db17f53040fc2
--- /dev/null
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diff --git a/data/object_data/hug_release/potted_meat_can/texture_map.png b/data/object_data/hug_release/potted_meat_can/texture_map.png
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index 0000000000000000000000000000000000000000..3f6961a06ddcefc64dec7e0810e9641193f5a95b
--- /dev/null
+++ b/data/object_data/hug_release/potted_meat_can/texture_map.png
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diff --git a/data/object_data/hug_release/potted_meat_can/textured.mtl b/data/object_data/hug_release/potted_meat_can/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd584d49c4df107e359a80dfdf7ea1111cc970ed
--- /dev/null
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diff --git a/data/object_data/hug_release/potted_meat_can/textured.obj b/data/object_data/hug_release/potted_meat_can/textured.obj
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index 0000000000000000000000000000000000000000..a1c8b8b91a564dedd3bccbb1c56863f8544a9be2
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diff --git a/data/object_data/hug_release/reamer/collision/part_000.obj b/data/object_data/hug_release/reamer/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9c0cdad21b43c400f6562fc725f2ae30a9f9d3
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_000.obj
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diff --git a/data/object_data/hug_release/reamer/collision/part_001.obj b/data/object_data/hug_release/reamer/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b7f5ccc6bdf875cdd94f11ce3f61e2097344ae
--- /dev/null
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diff --git a/data/object_data/hug_release/reamer/collision/part_002.obj b/data/object_data/hug_release/reamer/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92095fb0fc28092da1d04a640b210fba63585ca7
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_002.obj
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diff --git a/data/object_data/hug_release/reamer/collision/part_003.obj b/data/object_data/hug_release/reamer/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e205395cc66343a18058e43cccc3a65fa14bbb2d
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_003.obj
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diff --git a/data/object_data/hug_release/reamer/collision/part_004.obj b/data/object_data/hug_release/reamer/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ddb7f53cfc5abc101a319cdecc7cda0a3d7f6a
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_004.obj
@@ -0,0 +1,994 @@
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diff --git a/data/object_data/hug_release/reamer/collision/part_005.obj b/data/object_data/hug_release/reamer/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f376dfd98d20d9e38e1764141d030e6dd3bada28
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_005.obj
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diff --git a/data/object_data/hug_release/reamer/collision/part_006.obj b/data/object_data/hug_release/reamer/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b31025768b111ea4867dc96aea31500b778f588c
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diff --git a/data/object_data/hug_release/reamer/collision/part_007.obj b/data/object_data/hug_release/reamer/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e5a514daa95bf33c26f8ea1251910a50a0fcd8
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_007.obj
@@ -0,0 +1,6958 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/reamer/collision/part_008.obj b/data/object_data/hug_release/reamer/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71852b5386588ccccbe72c9afe2290585cec5e76
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_008.obj
@@ -0,0 +1,2398 @@
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diff --git a/data/object_data/hug_release/reamer/collision/part_009.obj b/data/object_data/hug_release/reamer/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2afb92bddf7d17e947b32b5cf3f23389acbdef3
--- /dev/null
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diff --git a/data/object_data/hug_release/reamer/collision/part_010.obj b/data/object_data/hug_release/reamer/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d7df1e2ecee5b47bd2e56b781ac3da44428948
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_010.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/reamer/collision/part_011.obj b/data/object_data/hug_release/reamer/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd95bafbc4f8592f3f998135a0b19556c6dcfb0
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_011.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/reamer/collision/part_012.obj b/data/object_data/hug_release/reamer/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5fb602ce37c8f0d55de96ce79f1c2f05202b959
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_012.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/reamer/collision/part_013.obj b/data/object_data/hug_release/reamer/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4890e9660a3f2e8f477662a2adacbe0fefa70d06
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_013.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/reamer/collision/part_014.obj b/data/object_data/hug_release/reamer/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca97d5de8d82ee8e6a8e22603e2f28a20c4b53e
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_014.obj
@@ -0,0 +1,4804 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/reamer/collision/part_015.obj b/data/object_data/hug_release/reamer/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31cb4ea3ad1430f902d55d39201dbc2e38b799ae
--- /dev/null
+++ b/data/object_data/hug_release/reamer/collision/part_015.obj
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diff --git a/data/object_data/hug_release/reamer/reamer.stl b/data/object_data/hug_release/reamer/reamer.stl
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index 0000000000000000000000000000000000000000..3d06994009875894a3fe450d70ff030fddb31928
--- /dev/null
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new file mode 100644
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diff --git a/data/object_data/hug_release/reamer/textured.mtl b/data/object_data/hug_release/reamer/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
+++ b/data/object_data/hug_release/reamer/textured.mtl
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diff --git a/data/object_data/hug_release/reamer/textured.obj b/data/object_data/hug_release/reamer/textured.obj
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+f 24371/24371/24371 9247/9247/9247 24369/24369/24369
+f 24372/24372/24372 9245/9245/9245 24370/24370/24370
+f 9245/9245/9245 24372/24372/24372 21279/21279/21279
+f 9247/9247/9247 9248/9248/9248 24369/24369/24369
+f 9247/9247/9247 24371/24371/24371 9246/9246/9246
+f 24413/24413/24413 24412/24412/24412 24414/24414/24414
+f 24415/24415/24415 24414/24414/24414 24412/24412/24412
+f 24419/24419/24419 24409/24409/24409 24418/24418/24418
+f 24417/24417/24417 24419/24419/24419 24418/24418/24418
+f 24419/24419/24419 24417/24417/24417 24421/24421/24421
+f 24415/24415/24415 24420/24420/24420 24416/24416/24416
+f 24410/24410/24410 24420/24420/24420 24415/24415/24415
+f 24412/24412/24412 24410/24410/24410 24415/24415/24415
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_000.obj b/data/object_data/hug_release/rubiks_cube/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abd4bd9d9545874e7609230862cd40a695024b5
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_000.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00417897 -0.00396182 0.01884780
+v -0.00492350 -0.00396182 0.01884780
+v 0.00417897 -0.00580542 0.01884780
+v 0.00417897 -0.00396182 0.00014385
+v -0.00492350 -0.00580542 0.01884780
+v -0.00492350 -0.00396182 0.00332801
+v 0.00417897 -0.00580542 0.00018047
+v 0.00411392 -0.00543797 0.00017315
+v 0.00378957 -0.00580542 0.00018047
+v 0.00398115 -0.00396182 0.00014568
+v -0.00492350 -0.00580542 0.00298011
+v -0.00021766 -0.00396182 0.00047526
+v -0.00065697 -0.00520497 0.00039836
+v -0.00085301 -0.00580542 0.00039104
+v 0.00151551 -0.00580542 0.00020427
+v 0.00199402 -0.00396182 0.00016948
+v -0.00015528 -0.00396182 0.00045329
+v -0.00020162 -0.00400008 0.00045512
+v 0.00088729 -0.00438108 0.00018962
+v 0.00006660 -0.00580542 0.00023357
+v 0.00113501 -0.00396182 0.00021343
+v 0.00095590 -0.00396182 0.00022991
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 16
+f 1 16 21
+f 1 21 22
+f 1 22 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 20
+f 3 20 15
+f 3 15 9
+f 3 9 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 9 8
+f 9 15 10
+f 10 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 20 19
+f 15 19 16
+f 16 19 21
+f 17 22 18
+f 18 22 19
+f 19 22 21
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_001.obj b/data/object_data/hug_release/rubiks_cube/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50ef5fb80b6a5d1f419148b21b915badbfe7be6
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_001.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00200738 -0.00347310 0.05298311
+v -0.00572035 -0.00347310 0.05659854
+v -0.00200738 -0.00560345 0.05284341
+v -0.00200738 -0.00347310 0.03816193
+v -0.00627015 -0.00347310 0.05704558
+v -0.00625871 -0.00525580 0.05684068
+v -0.00623502 -0.00560345 0.05665814
+v -0.00200738 -0.00560345 0.03816193
+v -0.01035319 -0.00347310 0.03816193
+v -0.00638942 -0.00444307 0.05700460
+v -0.00666228 -0.00347310 0.05712753
+v -0.00719737 -0.00500387 0.05716292
+v -0.00702418 -0.00560345 0.05699528
+v -0.00663042 -0.00560345 0.05687980
+v -0.01035319 -0.00560345 0.03816193
+v -0.01035319 -0.00347310 0.05717969
+v -0.00686651 -0.00347310 0.05715733
+v -0.01029927 -0.00447519 0.05718900
+v -0.01035319 -0.00560345 0.05713312
+v -0.00752578 -0.00560345 0.05712008
+v -0.01035319 -0.00422221 0.05718714
+v -0.01035319 -0.00446226 0.05718714
+v -0.01035319 -0.00454672 0.05718527
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 14
+f 3 14 13
+f 3 13 20
+f 3 20 19
+f 3 19 15
+f 3 15 8
+f 4 8 15
+f 4 15 9
+f 5 10 6
+f 5 11 12
+f 5 12 10
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 9 15 19
+f 9 19 23
+f 9 23 22
+f 9 22 21
+f 9 21 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 16 21 17
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 18 23 19
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_002.obj b/data/object_data/hug_release/rubiks_cube/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314369590ec0f79a667688253e6af6419e991d18
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_002.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01975010 -0.02144316 -0.00020754
+v -0.02809462 -0.02144316 -0.00015718
+v -0.02809462 -0.01488159 -0.00017024
+v -0.02463870 -0.01303118 -0.00016464
+v -0.02451291 -0.01265972 -0.00015904
+v -0.01975010 -0.01916970 -0.00017956
+v -0.01975010 -0.02144316 0.01884963
+v -0.02809462 -0.02144316 0.01884963
+v -0.02809462 -0.01308707 -0.00014039
+v -0.02791165 -0.01265972 -0.00013293
+v -0.02432586 -0.01265972 -0.00013852
+v -0.01993062 -0.01701404 -0.00011987
+v -0.01975010 -0.01773976 -0.00014039
+v -0.01975010 -0.01265972 0.01884963
+v -0.02809462 -0.01265972 0.01884963
+v -0.02809462 -0.01265972 -0.00013106
+v -0.02375246 -0.01265972 -0.00003779
+v -0.01975010 -0.01706563 -0.00010308
+v -0.01975010 -0.01265972 0.00376394
+v -0.02337510 -0.01265972 0.00007600
+v -0.01975010 -0.01601402 0.00015621
+v -0.01975010 -0.01689624 -0.00006577
+v -0.01975010 -0.01554884 0.00065428
+v -0.02334569 -0.01265972 0.00009279
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 18
+f 1 18 22
+f 1 22 21
+f 1 21 23
+f 1 23 19
+f 1 19 14
+f 1 14 7
+f 1 7 8
+f 1 8 2
+f 2 8 15
+f 2 15 16
+f 2 16 9
+f 2 9 3
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 16
+f 5 16 15
+f 5 15 14
+f 5 14 19
+f 5 19 24
+f 5 24 20
+f 5 20 17
+f 5 17 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 17 20 21
+f 17 21 22
+f 17 22 18
+f 19 23 24
+f 20 24 21
+f 21 24 23
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_003.obj b/data/object_data/hug_release/rubiks_cube/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9561866ebd4d5952fcec4cfea49bf0270cc3c3
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_003.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01935803 -0.02144316 -0.00021371
+v -0.01799091 -0.02144316 -0.00020252
+v -0.01975010 -0.02144316 -0.00020625
+v -0.01975010 -0.01916970 -0.00018012
+v -0.01935676 -0.01932791 -0.00018572
+v -0.01322673 -0.01265972 -0.00008122
+v -0.01322673 -0.01298389 -0.00008496
+v -0.01322673 -0.02144316 -0.00015213
+v -0.01975010 -0.02144316 0.01884776
+v -0.01975010 -0.01773976 -0.00014094
+v -0.01684281 -0.01265972 -0.00005137
+v -0.01564298 -0.01265972 -0.00006630
+v -0.01322673 -0.01265972 0.01884776
+v -0.01322673 -0.02144316 0.01884776
+v -0.01975010 -0.01265972 0.01884776
+v -0.01975010 -0.01706563 -0.00010362
+v -0.01727829 -0.01265972 -0.00001031
+v -0.01975010 -0.01265972 0.00376466
+v -0.01975010 -0.01689624 -0.00006443
+v -0.01801454 -0.01359009 0.00004380
+v -0.01799091 -0.01265972 0.00041514
+v -0.01803050 -0.01265972 0.00048978
+v -0.01975010 -0.01554884 0.00065399
+v -0.01975010 -0.01601402 0.00015576
+f 1 2 8
+f 1 8 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 15
+f 3 15 18
+f 3 18 23
+f 3 23 24
+f 3 24 19
+f 3 19 16
+f 3 16 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 4 6 5
+f 6 12 11
+f 6 11 17
+f 6 17 21
+f 6 21 22
+f 6 22 18
+f 6 18 15
+f 6 15 13
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 9 14 13
+f 9 13 15
+f 10 16 11
+f 11 16 17
+f 16 19 20
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 19 24 20
+f 20 24 21
+f 21 24 22
+f 22 24 23
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_004.obj b/data/object_data/hug_release/rubiks_cube/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47038374a506ab4d4a612d4de22be823b77e73bd
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_004.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01326010 0.00724577 -0.00002181
+v -0.01326010 0.00838433 -0.00000334
+v -0.01074547 0.00725066 -0.00000334
+v -0.01074547 0.00724577 -0.00000334
+v -0.01326010 0.00724577 0.01884963
+v -0.01326010 0.00864305 0.00000220
+v -0.01120901 0.00824446 0.00001883
+v -0.01074547 0.00833983 0.00008533
+v -0.01074547 0.00724577 0.01884963
+v -0.01326010 0.01224165 0.01884963
+v -0.01326010 0.00957131 0.00005208
+v -0.01317394 0.00974493 0.00006316
+v -0.01175821 0.00946127 0.00014444
+v -0.01074547 0.00896486 0.00018138
+v -0.01074547 0.01224165 0.01884963
+v -0.01326010 0.01224165 0.00346578
+v -0.01326010 0.00975031 0.00006501
+v -0.01326010 0.00981731 0.00008533
+v -0.01326010 0.01029367 0.00031808
+v -0.01265600 0.01010000 0.00032547
+v -0.01074547 0.00926417 0.00030515
+v -0.01074547 0.01224165 0.00363388
+v -0.01320644 0.01224165 0.00345470
+v -0.01326010 0.01049761 0.00057669
+v -0.01074547 0.00939280 0.00044369
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 16
+f 1 16 24
+f 1 24 19
+f 1 19 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 14
+f 3 14 21
+f 3 21 25
+f 3 25 22
+f 3 22 15
+f 3 15 9
+f 3 9 4
+f 5 9 15
+f 5 15 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 10 15 22
+f 10 22 23
+f 10 23 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 16 23 24
+f 19 24 22
+f 19 22 20
+f 20 25 21
+f 20 22 25
+f 22 24 23
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_005.obj b/data/object_data/hug_release/rubiks_cube/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ded2c646f468eb55b9942e5dc5ac214ea293dff
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_005.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00417897 0.00264957 0.01884963
+v -0.00492350 0.00264957 0.01884963
+v 0.00417897 -0.00396182 0.01884963
+v 0.00417897 0.00264957 0.00020467
+v -0.00492350 -0.00396182 0.01884963
+v -0.00492350 0.00264957 0.00011666
+v 0.00417897 -0.00396182 0.00014416
+v 0.00417897 -0.00317293 0.00012949
+v 0.00345006 0.00264957 0.00019184
+v -0.00492350 -0.00396182 0.00332745
+v -0.00492350 0.00184127 0.00012399
+v 0.00395531 -0.00396182 0.00014599
+v 0.00387867 -0.00324736 0.00013316
+v -0.00427746 0.00018972 0.00014416
+v -0.00492350 -0.00271021 0.00125538
+v -0.00021766 -0.00396182 0.00047422
+v -0.00492350 0.00046864 0.00015700
+v 0.00199402 -0.00396182 0.00016983
+v -0.00381320 -0.00113567 0.00017717
+v -0.00492350 -0.00266880 0.00121687
+v -0.00492350 -0.00198798 0.00060442
+v -0.00015528 -0.00396182 0.00045222
+v -0.00492350 -0.00069172 0.00022484
+v 0.00113501 -0.00396182 0.00021384
+v 0.00095590 -0.00396182 0.00022851
+v -0.00255498 -0.00253872 0.00032753
+v -0.00492350 -0.00131299 0.00034403
+v -0.00492350 -0.00150455 0.00039171
+v -0.00391479 -0.00208700 0.00042472
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 23
+f 2 23 27
+f 2 27 28
+f 2 28 21
+f 2 21 20
+f 2 20 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 22
+f 3 22 25
+f 3 25 24
+f 3 24 18
+f 3 18 12
+f 3 12 7
+f 4 8 9
+f 6 9 8
+f 6 8 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 11
+f 10 15 16
+f 11 14 17
+f 12 18 14
+f 12 14 13
+f 14 18 19
+f 14 19 17
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 17 19 23
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 23
+f 21 28 29
+f 21 29 26
+f 21 26 22
+f 22 26 25
+f 26 29 28
+f 26 28 27
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_006.obj b/data/object_data/hug_release/rubiks_cube/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4158fa873cceaaebe70b19f943830e7731bc58f
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_006.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02298365 0.02777170 0.02030194
+v -0.02298851 0.02751468 0.01884963
+v -0.02351361 0.02749184 0.01884963
+v -0.02300796 0.02777007 0.02030194
+v -0.01890607 0.02767950 0.02030194
+v -0.01890607 0.02748531 0.01911717
+v -0.01890607 0.02743309 0.01884963
+v -0.02367243 0.02770316 0.02030194
+v -0.02472262 0.02712794 0.01884963
+v -0.01890607 0.01943633 0.02030194
+v -0.01890607 0.01943633 0.01884963
+v -0.02446656 0.02736945 0.02030194
+v -0.02543409 0.02678689 0.01884963
+v -0.03546111 0.01943633 0.02030194
+v -0.03499274 0.01943633 0.01884963
+v -0.02706609 0.02600035 0.01884963
+v -0.02812276 0.02547817 0.01884963
+v -0.03151318 0.02380065 0.01884963
+v -0.02758471 0.02579229 0.02030194
+v -0.03534604 0.02055903 0.02030194
+v -0.03524556 0.01943633 0.01926004
+v -0.03483554 0.02007274 0.01884963
+v -0.03300419 0.02302064 0.01884963
+v -0.03383721 0.02261431 0.02030194
+v -0.02855062 0.02530274 0.02030194
+v -0.03527636 0.02110324 0.02030194
+v -0.03431206 0.02198932 0.01884963
+v -0.03358925 0.02267714 0.01884963
+v -0.03411920 0.02243889 0.02030194
+v -0.03494574 0.02182451 0.02030194
+v -0.03359897 0.02266898 0.01884963
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 25
+f 1 25 24
+f 1 24 29
+f 1 29 30
+f 1 30 26
+f 1 26 20
+f 1 20 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 15
+f 2 15 22
+f 2 22 27
+f 2 27 31
+f 2 31 28
+f 2 28 23
+f 2 23 18
+f 2 18 17
+f 2 17 16
+f 2 16 13
+f 2 13 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 5 10 11
+f 5 11 7
+f 5 7 6
+f 8 9 12
+f 9 13 12
+f 10 14 21
+f 10 21 15
+f 10 15 11
+f 12 13 16
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 14 20 21
+f 15 21 22
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 26 30 27
+f 27 30 31
+f 28 31 30
+f 28 30 29
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_007.obj b/data/object_data/hug_release/rubiks_cube/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab37fb8e07b7af6a8f4872f74a46653880f3461
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_007.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01322673 -0.01265886 -0.00008059
+v -0.01564330 -0.01265886 -0.00006574
+v -0.01660916 -0.00758352 -0.00010843
+v -0.01451633 -0.00560254 -0.00011029
+v -0.01322673 -0.00446369 -0.00011029
+v -0.01322673 -0.01265886 0.01884777
+v -0.01905170 -0.00967090 -0.00006759
+v -0.01684357 -0.01265886 -0.00005089
+v -0.01925250 -0.00377589 -0.00008987
+v -0.01490344 -0.00274195 -0.00011400
+v -0.01981752 -0.00655707 -0.00008244
+v -0.02102695 -0.00411904 -0.00007687
+v -0.01322673 -0.00417149 -0.00011029
+v -0.01322673 0.00264957 0.01884777
+v -0.02102695 -0.01265886 0.01884777
+v -0.02102695 -0.00889769 -0.00003975
+v -0.02102695 -0.00611352 -0.00006574
+v -0.01727802 -0.01265886 -0.00001005
+v -0.02102695 -0.00353164 -0.00007687
+v -0.01987096 -0.00159411 -0.00008244
+v -0.01322673 0.00206966 -0.00009172
+v -0.01322673 -0.00213356 -0.00010657
+v -0.01827289 0.00083941 -0.00008430
+v -0.02102695 0.00264957 0.01884777
+v -0.01322673 0.00264957 -0.00008430
+v -0.02102695 -0.01265886 0.00380644
+v -0.02102695 -0.00952555 0.00008277
+v -0.02102695 -0.00989118 0.00016073
+v -0.01799039 -0.01265886 0.00041504
+v -0.02102695 -0.00126445 -0.00007130
+v -0.01777507 0.00264957 -0.00006759
+v -0.02102695 0.00264957 -0.00004532
+v -0.02017408 0.00264957 -0.00005274
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 21
+f 1 21 25
+f 1 25 14
+f 1 14 6
+f 1 6 15
+f 1 15 26
+f 1 26 29
+f 1 29 18
+f 1 18 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 12
+f 3 12 9
+f 4 10 5
+f 5 10 13
+f 6 14 24
+f 6 24 15
+f 7 8 16
+f 7 16 17
+f 7 17 11
+f 8 18 16
+f 9 12 19
+f 9 19 20
+f 9 20 10
+f 10 21 22
+f 10 22 13
+f 10 20 23
+f 10 23 21
+f 11 17 12
+f 12 17 16
+f 12 16 27
+f 12 27 28
+f 12 28 26
+f 12 26 15
+f 12 15 24
+f 12 24 32
+f 12 32 30
+f 12 30 19
+f 14 25 31
+f 14 31 33
+f 14 33 32
+f 14 32 24
+f 16 18 27
+f 18 28 27
+f 18 29 28
+f 19 30 20
+f 20 30 23
+f 21 23 31
+f 21 31 25
+f 23 30 32
+f 23 32 33
+f 23 33 31
+f 26 28 29
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_008.obj b/data/object_data/hug_release/rubiks_cube/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6eb6c4e29218dc5daa4d7617b744254c171860
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_008.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00341170 -0.02173964 0.03657344
+v 0.00243841 -0.02173964 0.03816006
+v 0.00239025 -0.02192676 0.03816006
+v 0.00339841 -0.02178342 0.03657344
+v -0.01355431 -0.02173964 0.03657344
+v -0.01355431 -0.02173964 0.03816006
+v 0.00208298 -0.02244999 0.03816006
+v 0.00301807 -0.02248177 0.03657344
+v 0.00335523 -0.02186321 0.03657344
+v -0.01355431 -0.02709838 0.03657344
+v -0.01355431 -0.02817240 0.03816006
+v 0.00156312 -0.02311587 0.03816006
+v 0.00264935 -0.02265406 0.03699106
+v 0.00274070 -0.02274374 0.03657344
+v -0.01355431 -0.02813709 0.03805228
+v -0.01005979 -0.02880437 0.03657344
+v -0.00974588 -0.02893571 0.03657344
+v -0.00931239 -0.02895266 0.03657344
+v -0.00888388 -0.02883191 0.03683513
+v -0.00886561 -0.02809755 0.03816006
+v 0.00242347 -0.02293721 0.03682411
+v 0.00071109 -0.02367229 0.03816006
+v 0.00241184 -0.02296475 0.03657344
+v -0.00908153 -0.02892936 0.03657344
+v -0.00893205 -0.02887569 0.03657344
+v -0.00769302 -0.02831856 0.03687815
+v -0.00765150 -0.02795773 0.03816006
+v -0.00784748 -0.02798033 0.03816006
+v 0.00110472 -0.02367229 0.03681712
+v -0.00419684 -0.02625386 0.03816006
+v -0.00261900 -0.02565649 0.03695705
+v 0.00145517 -0.02349717 0.03657344
+v -0.00792388 -0.02844425 0.03657344
+v -0.00749704 -0.02822253 0.03657344
+v -0.00287976 -0.02580336 0.03657344
+v -0.00608030 -0.02723961 0.03816006
+v -0.00426826 -0.02629129 0.03816006
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 14
+f 1 14 23
+f 1 23 32
+f 1 32 35
+f 1 35 34
+f 1 34 33
+f 1 33 25
+f 1 25 24
+f 1 24 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 20
+f 2 20 28
+f 2 28 27
+f 2 27 36
+f 2 36 37
+f 2 37 30
+f 2 30 22
+f 2 22 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 15
+f 5 15 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 10 16 15
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 15 17
+f 12 21 13
+f 12 22 21
+f 13 21 14
+f 14 21 23
+f 15 16 17
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 22 29
+f 21 29 23
+f 22 30 31
+f 22 31 29
+f 23 29 32
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 31
+f 26 31 36
+f 26 36 27
+f 29 31 32
+f 30 37 31
+f 31 35 32
+f 31 37 36
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_009.obj b/data/object_data/hug_release/rubiks_cube/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1775f985acde40c0be9f634890bf6c031df1cc84
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_009.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01081934 0.00359864 0.01943319
+v 0.01068051 0.00359864 0.01884963
+v 0.01081273 0.00359864 0.01987958
+v 0.01438927 0.00153226 0.02030194
+v 0.01466032 0.00133014 0.02030194
+v 0.01466032 0.00117667 0.02005387
+v 0.01451488 0.00022707 0.01884963
+v -0.04982975 0.00359864 0.01884963
+v 0.01050863 0.00359864 0.02030194
+v 0.01489831 0.00102799 0.02030194
+v 0.01518259 0.00049975 0.02000596
+v 0.01508342 -0.00028199 0.01884963
+v -0.04902321 0.00198308 0.01884963
+v -0.05023302 0.00359864 0.01995080
+v -0.05029252 0.00359864 0.02030194
+v 0.01516275 0.00059088 0.02030194
+v 0.01516275 -0.00038956 0.01884963
+v 0.01599574 -0.00096096 0.01998790
+v 0.01603540 -0.00186535 0.01884963
+v -0.04786629 -0.00014359 0.01884963
+v -0.04845467 0.00023255 0.01985797
+v -0.05009419 0.00332458 0.01994696
+v -0.04761507 -0.00153785 0.02022986
+v -0.04763491 -0.00152072 0.02030194
+v 0.01566519 -0.00031282 0.02030194
+v 0.01630645 -0.00153785 0.02030194
+v 0.01722538 -0.00340075 0.01998535
+v 0.01721877 -0.00340075 0.01990332
+v 0.01682872 -0.00340075 0.01884963
+v -0.04733080 -0.00096439 0.01884963
+v -0.04707959 -0.00218394 0.01999686
+v -0.04694737 -0.00249020 0.02030194
+v 0.01724521 -0.00340075 0.02030194
+v -0.04358899 -0.00340075 0.01884963
+v -0.04657715 -0.00146180 0.01884963
+v -0.04666310 -0.00260872 0.02030194
+v -0.04359560 -0.00340075 0.02030194
+v -0.04367493 -0.00340075 0.01902534
+v -0.04372121 -0.00340075 0.01943618
+v -0.04368816 -0.00340075 0.01974950
+f 1 2 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 12
+f 2 12 17
+f 2 17 19
+f 2 19 29
+f 2 29 34
+f 2 34 35
+f 2 35 30
+f 2 30 20
+f 2 20 13
+f 2 13 8
+f 3 9 4
+f 4 9 15
+f 4 15 24
+f 4 24 32
+f 4 32 36
+f 4 36 37
+f 4 37 33
+f 4 33 26
+f 4 26 25
+f 4 25 16
+f 4 16 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 19
+f 11 19 17
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 20 23 21
+f 20 30 23
+f 21 23 22
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 26 33 27
+f 27 33 37
+f 27 37 40
+f 27 40 39
+f 27 39 38
+f 27 38 34
+f 27 34 29
+f 27 29 28
+f 30 35 31
+f 31 35 34
+f 31 34 32
+f 32 34 36
+f 34 38 36
+f 36 39 40
+f 36 40 37
+f 36 38 39
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_010.obj b/data/object_data/hug_release/rubiks_cube/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aaaf28ab9c5c4656c01494ca48019b5ffe0e7db
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_010.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01958921 0.02054001 0.02586304
+v -0.01958921 0.02054001 0.03816006
+v -0.01958921 0.02910949 0.02586304
+v 0.00484026 0.02054001 0.02586304
+v -0.01958921 0.02644201 0.03816006
+v -0.00100183 0.02054001 0.03816006
+v -0.01958921 0.02910949 0.03577770
+v 0.00057426 0.02910949 0.02586304
+v 0.00398035 0.02255572 0.02586304
+v 0.00485223 0.02054001 0.02670331
+v -0.01826701 0.02910949 0.03816006
+v 0.00182699 0.02054001 0.03815766
+v 0.00181023 0.02056350 0.03816006
+v 0.00057666 0.02910949 0.03315699
+v 0.00385579 0.02275872 0.03124171
+v 0.00400670 0.02250120 0.02621215
+v 0.00488097 0.02054001 0.02882444
+v 0.00057666 0.02910949 0.03366018
+v 0.00022695 0.02910949 0.03816006
+v 0.00438994 0.02054001 0.03516616
+v 0.00236114 0.02325530 0.03816006
+v 0.00282343 0.02468383 0.03684068
+v 0.00382945 0.02272516 0.03475566
+v 0.00486421 0.02054001 0.03324246
+v 0.00160902 0.02709462 0.03489771
+v 0.00487858 0.02054001 0.02956238
+v 0.00055749 0.02910949 0.03625923
+v 0.00065331 0.02828324 0.03816006
+v 0.00040899 0.02910949 0.03748954
+v 0.00245935 0.02390875 0.03816006
+v 0.00473486 0.02054001 0.03447397
+v 0.00353243 0.02306657 0.03633266
+v 0.00326895 0.02301204 0.03685994
+v 0.00206413 0.02547233 0.03816006
+v 0.00294080 0.02416879 0.03723553
+v 0.00054791 0.02910949 0.03659269
+v 0.00139584 0.02738821 0.03704894
+v 0.00048324 0.02910949 0.03719941
+v 0.00084493 0.02791080 0.03816006
+v 0.00216952 0.02512002 0.03816006
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 26
+f 1 26 24
+f 1 24 31
+f 1 31 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 21
+f 2 21 30
+f 2 30 40
+f 2 40 34
+f 2 34 39
+f 2 39 28
+f 2 28 19
+f 2 19 11
+f 2 11 5
+f 3 7 11
+f 3 11 19
+f 3 19 29
+f 3 29 38
+f 3 38 36
+f 3 36 27
+f 3 27 18
+f 3 18 14
+f 3 14 8
+f 4 9 10
+f 5 11 7
+f 6 12 13
+f 8 14 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 9 14 18
+f 9 18 15
+f 12 20 21
+f 12 21 13
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 15 18 25
+f 15 25 22
+f 16 24 26
+f 16 26 17
+f 18 27 25
+f 19 28 29
+f 20 30 21
+f 20 31 32
+f 20 32 33
+f 20 33 30
+f 22 34 35
+f 22 35 32
+f 22 32 23
+f 22 25 27
+f 22 27 36
+f 22 36 37
+f 22 37 38
+f 22 38 29
+f 22 29 39
+f 22 39 34
+f 23 32 24
+f 24 32 31
+f 28 39 29
+f 30 33 35
+f 30 35 40
+f 32 35 33
+f 34 40 35
+f 36 38 37
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_011.obj b/data/object_data/hug_release/rubiks_cube/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec7177a8818b751e851db730de39bee9b49d7f3
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_011.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04552423 -0.00447979 0.04072495
+v -0.04479156 -0.00717100 0.04025792
+v -0.04485938 -0.00719328 0.04072495
+v -0.04552423 0.01597719 0.04072495
+v -0.04552423 -0.00259036 0.03816006
+v -0.04409280 -0.00855930 0.03912425
+v -0.04474569 -0.00750137 0.04072495
+v -0.04191673 0.01784062 0.04072495
+v -0.04543182 0.01621476 0.03816006
+v -0.04552423 0.01616650 0.03816006
+v -0.04345853 -0.00941307 0.03816006
+v -0.04375638 -0.00942420 0.03929323
+v -0.04465128 -0.00772781 0.04072495
+v -0.04039155 0.01860901 0.04072495
+v -0.04170863 0.01807448 0.03816006
+v -0.04338938 -0.00956897 0.03816006
+v -0.04258225 -0.01126166 0.03816006
+v -0.04081838 -0.01469528 0.03816006
+v -0.04230966 -0.01223792 0.03960182
+v -0.04286082 -0.01119484 0.04072495
+v -0.03984371 0.01887999 0.04072495
+v -0.04080642 0.01836031 0.03816006
+v -0.04042080 -0.01544511 0.03816006
+v -0.03997601 -0.01661440 0.03952097
+v -0.03873207 -0.01894926 0.04072495
+v -0.03965622 -0.01721575 0.04072495
+v -0.04200116 -0.01281700 0.04072495
+v -0.03887967 0.01897279 0.04072495
+v -0.04030977 0.01850508 0.03816006
+v -0.03895147 -0.01810663 0.03816006
+v -0.03873207 -0.01876737 0.03907403
+v -0.03873207 -0.01894555 0.03971908
+v -0.03873207 0.01890597 0.04072495
+v -0.03875068 0.01891711 0.04072495
+v -0.03967018 0.01828607 0.03816006
+v -0.03883047 -0.01830708 0.03816006
+v -0.03873207 -0.01852238 0.03833005
+v -0.03873207 0.01741745 0.03816006
+v -0.03887102 0.01756965 0.03816006
+v -0.03914361 0.01782949 0.03816006
+v -0.03873207 -0.01840359 0.03816006
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 27
+f 1 27 26
+f 1 26 25
+f 1 25 33
+f 1 33 34
+f 1 34 28
+f 1 28 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 4 8 9
+f 4 9 10
+f 5 10 9
+f 5 9 15
+f 5 15 22
+f 5 22 29
+f 5 29 35
+f 5 35 40
+f 5 40 39
+f 5 39 38
+f 5 38 41
+f 5 41 36
+f 5 36 30
+f 5 30 23
+f 5 23 18
+f 5 18 17
+f 5 17 16
+f 5 16 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 14 21 15
+f 15 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 21 28 29
+f 21 29 22
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 32 25
+f 25 32 31
+f 25 31 37
+f 25 37 41
+f 25 41 38
+f 25 38 33
+f 28 34 35
+f 28 35 29
+f 30 36 31
+f 31 36 37
+f 33 38 39
+f 33 39 40
+f 33 40 35
+f 33 35 34
+f 36 41 37
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_012.obj b/data/object_data/hug_release/rubiks_cube/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60e6d708c5aaf755441443da2958c8764211ee9
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_012.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00035193 -0.00470211 0.03816006
+v -0.00035193 -0.02173797 0.03816006
+v -0.00035193 -0.00470211 0.03586071
+v -0.04299543 -0.00470211 0.03816006
+v -0.00035628 -0.02173963 0.03816006
+v -0.00035193 -0.02173963 0.03813215
+v -0.00035193 -0.02173963 0.03586071
+v -0.04373929 -0.00470211 0.03586071
+v -0.04407859 -0.00470211 0.03586993
+v -0.04409599 -0.00470711 0.03586071
+v -0.04471369 -0.00600294 0.03586071
+v -0.04360008 -0.00747554 0.03816006
+v -0.03423008 -0.02173963 0.03816006
+v -0.03449109 -0.02173963 0.03586071
+v -0.04478765 -0.00662667 0.03586071
+v -0.04362618 -0.00764899 0.03816006
+v -0.03814078 -0.01899288 0.03816006
+v -0.03761007 -0.02034041 0.03586071
+v -0.03746217 -0.02042713 0.03586071
+v -0.04479200 -0.00669671 0.03586071
+v -0.04476590 -0.00674841 0.03592508
+v -0.04366098 -0.00858458 0.03816006
+v -0.04426129 -0.00759896 0.03698022
+v -0.03882808 -0.01830578 0.03816006
+v -0.03828433 -0.01964997 0.03586071
+v -0.04455274 -0.00753225 0.03586071
+v -0.04443094 -0.00766066 0.03642204
+v -0.04366098 -0.00859459 0.03816006
+v -0.03894988 -0.01810899 0.03816006
+v -0.03848878 -0.01932643 0.03614813
+v -0.03841918 -0.01946819 0.03586071
+v -0.04413514 -0.00842615 0.03586071
+v -0.04338693 -0.00957355 0.03816006
+v -0.04345653 -0.00941678 0.03816006
+v -0.04042020 -0.01544562 0.03816006
+v -0.03953279 -0.01732349 0.03652017
+v -0.04005915 -0.01634286 0.03586071
+v -0.04248647 -0.01165154 0.03586071
+v -0.04312593 -0.01037239 0.03676708
+v -0.04258217 -0.01126462 0.03816006
+v -0.04081605 -0.01469681 0.03816006
+v -0.04150336 -0.01353941 0.03653120
+v -0.04145551 -0.01365615 0.03586071
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 16
+f 1 16 22
+f 1 22 28
+f 1 28 34
+f 1 34 33
+f 1 33 40
+f 1 40 41
+f 1 41 35
+f 1 35 29
+f 1 29 24
+f 1 24 17
+f 1 17 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 19
+f 3 19 18
+f 3 18 25
+f 3 25 31
+f 3 31 37
+f 3 37 43
+f 3 43 38
+f 3 38 32
+f 3 32 26
+f 3 26 20
+f 3 20 15
+f 3 15 11
+f 3 11 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 7
+f 5 7 6
+f 8 10 9
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 24 18
+f 18 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 23
+f 22 23 28
+f 23 27 28
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 34 28
+f 29 35 30
+f 30 36 37
+f 30 37 31
+f 30 35 36
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 35 41 36
+f 36 41 42
+f 36 42 37
+f 37 42 43
+f 38 43 42
+f 38 42 39
+f 39 42 41
+f 39 41 40
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_013.obj b/data/object_data/hug_release/rubiks_cube/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a640066a53564235313fd0e09e3f7558dc598e8f
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_013.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02451374 -0.01265886 -0.00015746
+v -0.02432625 -0.01265886 -0.00013885
+v -0.02483267 -0.01265886 -0.00015560
+v -0.02102695 0.00264957 -0.00004395
+v -0.02102695 -0.00126445 -0.00007186
+v -0.02102695 -0.00353164 -0.00007745
+v -0.02102695 -0.00411904 -0.00007745
+v -0.02102695 -0.00611352 -0.00006628
+v -0.02102695 -0.00889769 -0.00004023
+v -0.02375273 -0.01265886 -0.00003837
+v -0.02693166 -0.01265886 -0.00014071
+v -0.02791198 -0.01265886 -0.00013327
+v -0.02289487 0.00264957 -0.00002907
+v -0.02102695 0.00264957 0.01884963
+v -0.02102695 -0.00952555 0.00008257
+v -0.02102695 -0.00989118 0.00016072
+v -0.02337500 -0.01265886 0.00007513
+v -0.02809393 -0.01265886 -0.00013141
+v -0.02569745 0.00244129 0.00000815
+v -0.02473235 0.00264957 -0.00000302
+v -0.02809393 0.00264957 0.01884963
+v -0.02102695 -0.01265886 0.01884963
+v -0.02334525 -0.01265886 0.00009374
+v -0.02102695 -0.01265886 0.00380770
+v -0.02809393 -0.00756554 -0.00003465
+v -0.02809393 -0.01265886 0.01884963
+v -0.02809393 -0.00410256 0.00003420
+v -0.02809393 -0.00092279 0.00009932
+v -0.02573273 0.00264957 0.00001931
+v -0.02561927 0.00264957 0.00001001
+v -0.02809393 0.00264957 0.00381514
+v -0.02809393 -0.00079393 0.00010676
+v -0.02809393 0.00030296 0.00020166
+v -0.02689223 0.00264957 0.00023143
+v -0.02731147 0.00264957 0.00115248
+v -0.02809393 0.00186887 0.00150043
+v -0.02809393 0.00099076 0.00033191
+v -0.02690814 0.00264957 0.00023515
+v -0.02703889 0.00264957 0.00051612
+v -0.02809393 0.00165908 0.00094594
+v -0.02809393 0.00100724 0.00033563
+v -0.02692128 0.00264957 0.00024632
+v -0.02809393 0.00158566 0.00080081
+f 1 2 10
+f 1 10 17
+f 1 17 23
+f 1 23 24
+f 1 24 22
+f 1 22 26
+f 1 26 18
+f 1 18 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 20
+f 4 20 30
+f 4 30 29
+f 4 29 34
+f 4 34 38
+f 4 38 42
+f 4 42 39
+f 4 39 35
+f 4 35 31
+f 4 31 21
+f 4 21 14
+f 4 14 22
+f 4 22 24
+f 4 24 16
+f 4 16 15
+f 4 15 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 26
+f 14 26 22
+f 16 23 17
+f 16 24 23
+f 18 25 19
+f 18 26 21
+f 18 21 31
+f 18 31 36
+f 18 36 40
+f 18 40 43
+f 18 43 41
+f 18 41 37
+f 18 37 33
+f 18 33 32
+f 18 32 28
+f 18 28 27
+f 18 27 25
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 19 25 27
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 31 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 42
+f 39 42 40
+f 40 42 43
+f 41 43 42
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_014.obj b/data/object_data/hug_release/rubiks_cube/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a899efc37e395d96c2a0216144b323886f9187c3
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_014.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01073234 -0.00580560 -0.00010986
+v -0.01037391 -0.00538930 -0.00011543
+v -0.01048851 -0.00580560 -0.00010800
+v -0.01322673 -0.00580560 -0.00010429
+v -0.00922466 -0.00389127 -0.00012100
+v -0.00725208 -0.00439779 -0.00010429
+v -0.01322673 -0.00446234 -0.00010986
+v -0.00797463 -0.00553083 -0.00008757
+v -0.00833956 -0.00580560 -0.00007643
+v -0.01322673 -0.00580560 0.01884777
+v -0.01322673 -0.00417019 -0.00010986
+v -0.01322673 -0.00213253 -0.00010800
+v -0.01167190 0.00148839 -0.00010243
+v -0.00860777 -0.00173940 -0.00010614
+v -0.00787222 -0.00009074 -0.00009315
+v -0.00670508 -0.00169223 -0.00007829
+v -0.00642143 -0.00365953 -0.00004672
+v -0.00672378 -0.00562849 0.00016311
+v -0.00693916 -0.00580560 0.00016126
+v -0.00809166 -0.00580560 -0.00005043
+v -0.00492431 -0.00580560 0.01884777
+v -0.01322673 0.00264957 0.01884777
+v -0.01322673 0.00208181 -0.00009129
+v -0.01322673 0.00264957 -0.00008386
+v -0.01136630 0.00264957 -0.00008386
+v -0.00950750 0.00178221 -0.00008943
+v -0.00932057 0.00264957 -0.00007086
+v -0.00828266 0.00264957 -0.00004115
+v -0.00492431 0.00264957 0.00011669
+v -0.00492431 0.00184180 0.00012412
+v -0.00492431 0.00046791 0.00015569
+v -0.00558428 -0.00209032 0.00009069
+v -0.00594677 -0.00379857 0.00021325
+v -0.00667989 -0.00580560 0.00024854
+v -0.00492431 0.00264957 0.01884777
+v -0.00492431 -0.00580560 0.00298011
+v -0.01018535 0.00264957 -0.00007829
+v -0.00492431 -0.00069244 0.00022439
+v -0.00492431 -0.00131400 0.00034509
+v -0.00492431 -0.00150518 0.00039152
+v -0.00571595 -0.00580560 0.00125315
+v -0.00551519 -0.00580560 0.00164682
+v -0.00492431 -0.00198770 0.00060507
+f 1 2 3
+f 1 3 9
+f 1 9 20
+f 1 20 19
+f 1 19 34
+f 1 34 41
+f 1 41 42
+f 1 42 36
+f 1 36 21
+f 1 21 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 3 8 9
+f 4 10 22
+f 4 22 24
+f 4 24 23
+f 4 23 12
+f 4 12 11
+f 4 11 7
+f 5 7 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 10 21 35
+f 10 35 22
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 15
+f 13 15 14
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 19
+f 21 36 43
+f 21 43 40
+f 21 40 39
+f 21 39 38
+f 21 38 31
+f 21 31 30
+f 21 30 29
+f 21 29 35
+f 22 35 29
+f 22 29 28
+f 22 28 27
+f 22 27 37
+f 22 37 25
+f 22 25 24
+f 25 37 26
+f 26 37 27
+f 31 38 32
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 36 42 43
+f 40 43 41
+f 41 43 42
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_015.obj b/data/object_data/hug_release/rubiks_cube/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07983945f514e098891099991776de773d0eb7b4
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_015.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00295619 -0.02011002 0.02030194
+v 0.00313081 -0.02147674 0.02030194
+v 0.00271690 -0.02011002 0.01884963
+v -0.01338690 -0.02011002 0.02030194
+v 0.00310818 -0.02176331 0.02030194
+v 0.00299338 -0.02229067 0.02030194
+v 0.00214777 -0.02178027 0.01884963
+v -0.01338690 -0.02011002 0.01884963
+v -0.01338690 -0.02761087 0.02030194
+v 0.00297398 -0.02232034 0.02030194
+v 0.00294164 -0.02233137 0.02026000
+v 0.00177751 -0.02252467 0.01884963
+v -0.01338690 -0.02813229 0.01884963
+v -0.01338690 -0.02803648 0.02029966
+v -0.01338528 -0.02803564 0.02030194
+v 0.00246791 -0.02278835 0.02030194
+v 0.00214777 -0.02283668 0.01970586
+v 0.00122132 -0.02321990 0.01884963
+v -0.00927364 -0.02872832 0.02030194
+v -0.01338690 -0.02810262 0.01940363
+v -0.00867541 -0.02806022 0.01884963
+v -0.00871421 -0.02864099 0.01997198
+v -0.00897452 -0.02877071 0.02030194
+v -0.01338690 -0.02808905 0.01964288
+v 0.00180500 -0.02322244 0.02030194
+v 0.00004910 -0.02399228 0.01884963
+v -0.00812568 -0.02790846 0.01884963
+v -0.00664950 -0.02732939 0.01884963
+v -0.00727845 -0.02802292 0.02016589
+v -0.00881607 -0.02873256 0.02030194
+v 0.00144444 -0.02342932 0.02030194
+v 0.00141372 -0.02344204 0.02017399
+v -0.00024031 -0.02413981 0.01884963
+v -0.00056692 -0.02448149 0.01993687
+v -0.00440855 -0.02651631 0.01995791
+v -0.00362114 -0.02584566 0.01884963
+v -0.00730594 -0.02803988 0.02030194
+v -0.00754685 -0.02816196 0.02030194
+v -0.00419027 -0.02641287 0.02030194
+v -0.00716042 -0.02796442 0.02030194
+v 0.00121485 -0.02355395 0.02030194
+v -0.00178764 -0.02515383 0.02022289
+v -0.00183291 -0.02517926 0.02030194
+v -0.00169871 -0.02510889 0.02030194
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 23
+f 1 23 30
+f 1 30 38
+f 1 38 37
+f 1 37 40
+f 1 40 39
+f 1 39 43
+f 1 43 44
+f 1 44 41
+f 1 41 31
+f 1 31 25
+f 1 25 16
+f 1 16 10
+f 1 10 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 12
+f 3 12 18
+f 3 18 26
+f 3 26 33
+f 3 33 36
+f 3 36 28
+f 3 28 27
+f 3 27 21
+f 3 21 13
+f 3 13 8
+f 4 8 13
+f 4 13 20
+f 4 20 24
+f 4 24 14
+f 4 14 9
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 21 22
+f 13 22 23
+f 13 23 19
+f 14 24 19
+f 14 19 15
+f 16 25 26
+f 16 26 18
+f 16 18 17
+f 19 24 20
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 25 31 32
+f 25 32 26
+f 26 32 34
+f 26 34 35
+f 26 35 33
+f 28 36 29
+f 29 37 38
+f 29 38 30
+f 29 36 33
+f 29 33 35
+f 29 35 39
+f 29 39 40
+f 29 40 37
+f 31 41 32
+f 32 41 42
+f 32 42 34
+f 34 42 35
+f 35 42 39
+f 39 42 43
+f 41 44 42
+f 42 44 43
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_016.obj b/data/object_data/hug_release/rubiks_cube/collision/part_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764028f5e967cd2c9c632d1e3859ce32dd20410f
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_016.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02860869 0.00724528 0.00025371
+v -0.02860869 0.00724528 0.01884781
+v -0.02860869 0.00706331 0.00027556
+v -0.03251412 0.00491854 0.00028830
+v -0.03502137 0.00491854 0.00027556
+v -0.03425338 0.00724528 0.00030468
+v -0.02860869 0.00491854 0.01884781
+v -0.05164600 0.00724528 0.01884781
+v -0.02860869 0.00684147 0.00035929
+v -0.03190199 0.00491854 0.00035747
+v -0.03717625 0.00491854 0.00029922
+v -0.04704260 0.00724528 0.00045394
+v -0.05049176 0.00491854 0.01884781
+v -0.02860869 0.00491854 0.00401986
+v -0.05168439 0.00724528 0.01719136
+v -0.05146304 0.00687268 0.01884781
+v -0.02860869 0.00642377 0.00092539
+v -0.03146379 0.00491854 0.00068512
+v -0.03189070 0.00491854 0.00036111
+v -0.03732984 0.00491854 0.00030104
+v -0.04351213 0.00491854 0.00038295
+v -0.04860794 0.00724528 0.00047761
+v -0.03763478 0.00491854 0.00030468
+v -0.05056178 0.00505906 0.01884781
+v -0.05052112 0.00491854 0.01721502
+v -0.05167536 0.00724528 0.00276387
+v -0.05126652 0.00641785 0.00279118
+v -0.04765925 0.00491854 0.00044666
+v -0.04806809 0.00491854 0.00045576
+v -0.04849500 0.00582614 0.00047761
+v -0.04964697 0.00724528 0.00055406
+v -0.05050983 0.00491854 0.00249811
+v -0.05163922 0.00724528 0.00236523
+v -0.04843175 0.00491854 0.00052311
+v -0.04961083 0.00712890 0.00055770
+v -0.04929686 0.00568402 0.00063415
+v -0.05048272 0.00724528 0.00084166
+v -0.05045562 0.00491854 0.00208309
+v -0.05158952 0.00724528 0.00199025
+v -0.04896482 0.00491854 0.00064325
+v -0.04991351 0.00491854 0.00117659
+v -0.05061147 0.00724528 0.00091811
+v -0.04938270 0.00491854 0.00087443
+v -0.05031331 0.00491854 0.00167171
+v -0.05118069 0.00650394 0.00181915
+v -0.05147885 0.00724528 0.00172814
+v -0.05027717 0.00491854 0.00161710
+v -0.05055049 0.00591611 0.00129127
+v -0.05112873 0.00724528 0.00125486
+f 1 2 7
+f 1 7 14
+f 1 14 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 22
+f 1 22 31
+f 1 31 37
+f 1 37 42
+f 1 42 49
+f 1 49 46
+f 1 46 39
+f 1 39 33
+f 1 33 26
+f 1 26 15
+f 1 15 8
+f 1 8 2
+f 2 8 16
+f 2 16 24
+f 2 24 13
+f 2 13 7
+f 3 9 10
+f 3 10 4
+f 4 10 19
+f 4 19 18
+f 4 18 14
+f 4 14 7
+f 4 7 13
+f 4 13 25
+f 4 25 32
+f 4 32 38
+f 4 38 44
+f 4 44 47
+f 4 47 41
+f 4 41 43
+f 4 43 40
+f 4 40 34
+f 4 34 29
+f 4 29 28
+f 4 28 21
+f 4 21 23
+f 4 23 20
+f 4 20 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 12
+f 12 21 22
+f 12 20 23
+f 12 23 21
+f 13 24 15
+f 13 15 25
+f 14 18 17
+f 15 24 16
+f 15 26 27
+f 15 27 25
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 25 27 32
+f 26 33 32
+f 26 32 27
+f 29 34 31
+f 29 31 30
+f 31 35 36
+f 31 36 37
+f 31 34 35
+f 32 33 38
+f 33 39 38
+f 34 40 36
+f 34 36 35
+f 36 40 37
+f 37 41 42
+f 37 40 43
+f 37 43 41
+f 38 39 45
+f 38 45 44
+f 39 46 45
+f 41 47 48
+f 41 48 49
+f 41 49 42
+f 44 45 48
+f 44 48 47
+f 45 46 48
+f 46 49 48
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_017.obj b/data/object_data/hug_release/rubiks_cube/collision/part_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f51032c91bc20c0a1f19fcab39e6b5692d54fdb
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_017.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.05030090 0.00345927 0.02586304
+v -0.04751819 -0.00189376 0.02586304
+v -0.04711684 -0.00268633 0.03038338
+v -0.04744461 -0.00207753 0.03682021
+v -0.05030759 0.00345927 0.03672631
+v 0.01367470 0.00345927 0.02586304
+v -0.04678906 -0.00328955 0.02586304
+v -0.04672886 -0.00341658 0.02792759
+v -0.04646129 -0.00389756 0.03326653
+v -0.04662184 -0.00356839 0.03514209
+v -0.04693623 -0.00277662 0.03702486
+v -0.04771217 -0.00117310 0.03816006
+v -0.04841454 0.00001895 0.03816006
+v -0.04939786 0.00188132 0.03816006
+v -0.05021394 0.00345927 0.03816006
+v 0.01368808 0.00345927 0.02715113
+v 0.01418977 0.00260758 0.02586304
+v -0.04628737 -0.00407652 0.02586304
+v -0.04591947 -0.00470131 0.02586424
+v -0.04592616 -0.00470131 0.02630845
+v -0.04599974 -0.00470131 0.03294993
+v -0.04592616 -0.00470131 0.03379381
+v -0.04577230 -0.00469732 0.03481826
+v -0.04721717 -0.00183624 0.03816006
+v -0.04576561 -0.00470131 0.03481946
+v -0.04638102 -0.00301071 0.03726322
+v 0.01063780 0.00345927 0.03816006
+v 0.01370145 0.00345927 0.02861497
+v 0.01424997 0.00261397 0.03235885
+v 0.01433693 0.00237348 0.02647217
+v 0.01434362 0.00234712 0.02586304
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_018.obj b/data/object_data/hug_release/rubiks_cube/collision/part_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5589e066ee54ce0ca4cf69f98108b2dee95e4fb
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_018.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01802760 -0.00470211 0.03683168
+v 0.01802760 -0.00470211 0.03586071
+v 0.01797858 -0.00470211 0.03816006
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+v -0.00035193 -0.00470211 0.03816006
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+v 0.02136120 -0.01120625 0.03608308
+v 0.02113100 -0.01065090 0.03586071
+v -0.00035193 -0.02173963 0.03586071
+v -0.00035193 -0.02173797 0.03816006
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+v 0.02135906 -0.01119625 0.03586071
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+v 0.02142301 -0.01207014 0.03586071
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+v 0.02132283 -0.01243537 0.03586071
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+v 0.01857112 -0.01443498 0.03782988
+v 0.01180163 -0.01797724 0.03728498
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_019.obj b/data/object_data/hug_release/rubiks_cube/collision/part_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3328480d870514d689abebc0394b6cb9d6f1736
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_019.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.03758434 0.02054001 0.02586304
+v -0.03763911 0.02054001 0.02817437
+v -0.03607017 0.02150635 0.02586304
+v -0.01958921 0.02054001 0.02586304
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+v -0.02529429 0.02705100 0.02586304
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+v -0.03720977 0.02054001 0.03489530
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+v -0.03220082 0.02337945 0.03593300
+v -0.02584907 0.02672973 0.03149210
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+v -0.02221118 0.02861122 0.02586304
+v -0.02089666 0.02910949 0.03302577
+v -0.02090903 0.02910949 0.03280066
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_020.obj b/data/object_data/hug_release/rubiks_cube/collision/part_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47226f2b1ced6e79660dd76f39980671f704b795
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_020.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.03622529 0.00264980 0.00025055
+v -0.03502199 0.00491832 0.00027604
+v -0.03556251 0.00293719 0.00025055
+v -0.03567619 0.00264980 0.00026330
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_021.obj b/data/object_data/hug_release/rubiks_cube/collision/part_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe809d99ea07be031c97b155ca77d9f22aed423
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_021.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.03209843 0.00717237 0.05731283
+v -0.03209843 0.00693530 0.05731095
+v -0.03192392 0.00697128 0.05730908
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+f 1 41 47
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+f 1 51 45
+f 1 45 36
+f 1 36 29
+f 1 29 23
+f 1 23 17
+f 1 17 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 10
+f 4 10 19
+f 4 19 26
+f 4 26 32
+f 4 32 39
+f 4 39 38
+f 4 38 46
+f 4 46 44
+f 4 44 50
+f 4 50 53
+f 4 53 48
+f 4 48 49
+f 4 49 42
+f 4 42 40
+f 4 40 33
+f 4 33 27
+f 4 27 21
+f 4 21 20
+f 4 20 13
+f 4 13 5
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 19
+f 19 25 24
+f 19 24 26
+f 21 27 22
+f 22 27 28
+f 23 29 30
+f 23 30 24
+f 24 30 29
+f 24 29 36
+f 24 36 44
+f 24 44 46
+f 24 46 37
+f 24 37 31
+f 24 31 32
+f 24 32 26
+f 27 33 28
+f 28 33 35
+f 28 35 34
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 33 40 35
+f 34 35 40
+f 34 40 42
+f 34 42 43
+f 34 43 41
+f 36 45 52
+f 36 52 50
+f 36 50 44
+f 37 46 38
+f 41 43 48
+f 41 48 47
+f 42 49 43
+f 43 49 48
+f 45 51 52
+f 47 48 51
+f 48 53 51
+f 50 52 53
+f 51 53 52
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_022.obj b/data/object_data/hug_release/rubiks_cube/collision/part_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c8735a79c2a7c4a192f4c4b910824ba4428817
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_022.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03120193 0.00028519 0.05725113
+v -0.02893482 -0.00114224 0.05717638
+v -0.02893482 -0.00056970 0.05716890
+v -0.03209843 0.00279497 0.05710536
+v -0.03209843 0.00019108 0.05721002
+v -0.03209843 -0.02324003 0.05699696
+v -0.03175996 -0.02323218 0.05700257
+v -0.03064978 -0.02286356 0.05699322
+v -0.02893482 -0.02236945 0.05697266
+v -0.02893482 -0.00029911 0.05711096
+v -0.03180641 0.00279497 0.05706424
+v -0.03209843 0.00279497 0.03816006
+v -0.03209843 -0.02380865 0.05698574
+v -0.03193771 -0.02690665 0.05692407
+v -0.03026300 -0.02984779 0.05684931
+v -0.02928413 -0.03060073 0.05682502
+v -0.02893482 -0.03074190 0.05681007
+v -0.02893482 -0.00002069 0.05700817
+v -0.03178690 0.00279497 0.05705863
+v -0.02893482 0.00279497 0.03816006
+v -0.03209843 -0.03102033 0.03816006
+v -0.03209843 -0.02675763 0.05689977
+v -0.02897415 -0.03358501 0.05664747
+v -0.03009020 -0.03061641 0.05681754
+v -0.02893482 -0.03271835 0.05671849
+v -0.02893482 0.00044990 0.05637087
+v -0.02893482 0.00279497 0.05176023
+v -0.02893482 -0.03704379 0.03816006
+v -0.02974957 -0.03555361 0.03816006
+v -0.02896609 -0.03722810 0.04067003
+v -0.03209843 -0.03112229 0.04018785
+v -0.03209843 -0.02705959 0.05684370
+v -0.02976412 -0.03342422 0.05628863
+v -0.02893482 -0.03636537 0.05579337
+v -0.02893482 -0.03361638 0.05665121
+v -0.03209843 -0.02816546 0.05662691
+v -0.02893482 -0.03349481 0.05666055
+v -0.02893482 -0.03705555 0.03821426
+v -0.02898034 -0.03698889 0.03816006
+v -0.02907603 -0.03685164 0.03816006
+v -0.02893482 -0.03726732 0.04059154
+v -0.02893482 -0.03724379 0.05217513
+v -0.02898313 -0.03717320 0.05161632
+v -0.03047420 -0.03430657 0.05171538
+v -0.03209843 -0.03114582 0.05458604
+v -0.03105390 -0.03223208 0.05593915
+v -0.03042713 -0.03403206 0.05538221
+v -0.02893482 -0.03679281 0.05533922
+v -0.03054697 -0.03331442 0.05585878
+v -0.03154071 -0.03187522 0.05551116
+v -0.03209843 -0.03045171 0.05581206
+v -0.02893482 -0.03716536 0.05447578
+v -0.02956624 -0.03597321 0.05476546
+v -0.03076281 -0.03372226 0.05439168
+v -0.03209843 -0.03113798 0.05461221
+v -0.02905931 -0.03664379 0.05523456
+v -0.02893482 -0.03699281 0.05490002
+v -0.03209843 -0.03093406 0.05528876
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 17
+f 2 17 25
+f 2 25 37
+f 2 37 35
+f 2 35 34
+f 2 34 48
+f 2 48 57
+f 2 57 52
+f 2 52 42
+f 2 42 41
+f 2 41 38
+f 2 38 28
+f 2 28 20
+f 2 20 27
+f 2 27 26
+f 2 26 18
+f 2 18 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 27
+f 4 27 20
+f 4 20 12
+f 4 12 21
+f 4 21 31
+f 4 31 45
+f 4 45 55
+f 4 55 58
+f 4 58 51
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+f 4 22 13
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+f 8 16 9
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 28
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+f 12 40 29
+f 12 29 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 18 26 19
+f 19 26 27
+f 21 29 30
+f 21 30 31
+f 22 32 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 23 32 36
+f 23 36 33
+f 24 35 37
+f 24 37 25
+f 28 38 39
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 33 46 34
+f 33 36 46
+f 34 47 48
+f 34 46 49
+f 34 49 50
+f 34 50 47
+f 36 51 46
+f 38 41 39
+f 39 41 40
+f 42 52 43
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 44 54 45
+f 45 54 53
+f 45 53 55
+f 46 51 49
+f 47 53 56
+f 47 56 48
+f 47 50 53
+f 48 56 57
+f 49 51 50
+f 50 51 58
+f 50 58 53
+f 52 57 53
+f 53 58 55
+f 53 57 56
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_023.obj b/data/object_data/hug_release/rubiks_cube/collision/part_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75abfd91bbbea64438671be62d954601724e127
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_023.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01539731 0.01490640 0.05716731
+v -0.01539731 0.01416129 0.05715428
+v -0.01510685 0.01401440 0.05714498
+v -0.01525696 0.01477654 0.05715614
+v -0.01367808 0.02808631 0.05685471
+v -0.01367808 0.03132008 0.05680819
+v -0.01514690 0.03097095 0.05680074
+v -0.01539731 0.03080702 0.05678772
+v -0.01539731 0.01287970 0.05712451
+v -0.01461797 0.01393563 0.05697565
+v -0.01367808 0.01640939 0.05688634
+v -0.01367808 0.02007958 0.05691239
+v -0.01367808 0.02123344 0.05691425
+v -0.01532596 0.01290951 0.05711521
+v -0.01367808 0.03198430 0.05668538
+v -0.01408803 0.03124132 0.05680447
+v -0.01367808 0.03207584 0.05666119
+v -0.01539731 0.03107526 0.05668724
+v -0.01539731 0.01254973 0.05709846
+v -0.01539731 0.01168327 0.05691425
+v -0.01465196 0.01311601 0.05676725
+v -0.01367808 0.01564938 0.05665747
+v -0.01539731 0.03145633 0.05650117
+v -0.01367808 0.03287417 0.05604157
+v -0.01539731 0.01168327 0.03816192
+v -0.01518308 0.01168327 0.05673934
+v -0.01367808 0.01541733 0.05655885
+v -0.01513125 0.01168327 0.05666119
+v -0.01539731 0.03175012 0.05626486
+v -0.01367808 0.03315092 0.05575130
+v -0.01412202 0.03288268 0.05579782
+v -0.01367808 0.01168327 0.03816192
+v -0.01539731 0.03205881 0.03816192
+v -0.01471288 0.01168327 0.05578852
+v -0.01442578 0.01168327 0.05518192
+v -0.01367808 0.01491917 0.05606762
+v -0.01539731 0.03241433 0.05536427
+v -0.01367808 0.03339787 0.05504237
+v -0.01539731 0.03243775 0.05530287
+v -0.01367808 0.03297423 0.03816192
+v -0.01367808 0.01168327 0.05220291
+v -0.01539731 0.03209925 0.03833311
+v -0.01504273 0.03225040 0.03816192
+v -0.01367808 0.01435076 0.05542567
+v -0.01367808 0.03340426 0.05502376
+v -0.01539731 0.03252929 0.05429436
+v -0.01390342 0.03285714 0.03816192
+v -0.01367808 0.03301255 0.03832008
+v -0.01539731 0.03215886 0.03860663
+v -0.01367808 0.03340852 0.05496608
+v -0.01539731 0.03243988 0.04902852
+v -0.01367808 0.03342981 0.05462557
+v -0.01367808 0.03321905 0.04069622
+v -0.01431000 0.03288481 0.04083578
+v -0.01367808 0.03313815 0.03890435
+v -0.01539731 0.03223976 0.03897878
+v -0.01539731 0.03230363 0.04125072
+v -0.01539731 0.03228234 0.04006916
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 18
+f 1 18 23
+f 1 23 29
+f 1 29 37
+f 1 37 39
+f 1 39 46
+f 1 46 51
+f 1 51 57
+f 1 57 58
+f 1 58 56
+f 1 56 49
+f 1 49 42
+f 1 42 33
+f 1 33 25
+f 1 25 20
+f 1 20 19
+f 1 19 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
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+f 3 14 10
+f 4 13 5
+f 5 13 12
+f 5 12 11
+f 5 11 22
+f 5 22 27
+f 5 27 36
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+f 5 44 41
+f 5 41 32
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+f 5 17 15
+f 5 15 6
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+f 7 16 15
+f 7 15 17
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+f 7 18 8
+f 9 19 14
+f 10 14 19
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+f 10 21 11
+f 11 21 22
+f 17 23 18
+f 17 24 23
+f 20 25 32
+f 20 32 41
+f 20 41 35
+f 20 35 34
+f 20 34 28
+f 20 28 26
+f 20 26 21
+f 21 27 22
+f 21 26 28
+f 21 28 27
+f 23 24 29
+f 24 30 31
+f 24 31 29
+f 25 33 43
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+f 25 47 40
+f 25 40 32
+f 27 28 34
+f 27 34 35
+f 27 35 36
+f 29 31 37
+f 30 38 39
+f 30 39 37
+f 30 37 31
+f 33 42 43
+f 35 41 44
+f 35 44 36
+f 38 45 39
+f 39 45 46
+f 40 47 48
+f 42 49 48
+f 42 48 43
+f 43 48 47
+f 45 50 46
+f 46 50 52
+f 46 52 53
+f 46 53 54
+f 46 54 51
+f 48 49 56
+f 48 56 55
+f 51 54 57
+f 53 55 56
+f 53 56 58
+f 53 58 54
+f 54 58 57
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_024.obj b/data/object_data/hug_release/rubiks_cube/collision/part_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c8e9d590c61fc1229ff2f6a410072d7b40123dc
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_024.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01035319 0.02030031 0.05696941
+v -0.01332984 0.01655375 0.05695652
+v -0.01035319 0.02020820 0.05696941
+v -0.01035319 0.03015835 0.05688654
+v -0.01107506 0.03259926 0.05687181
+v -0.01167521 0.03126827 0.05688102
+v -0.01367808 0.02123292 0.05691416
+v -0.01367808 0.02008155 0.05691232
+v -0.01367808 0.01640867 0.05688654
+v -0.01140117 0.01529184 0.05681657
+v -0.01241888 0.01601030 0.05690127
+v -0.01035319 0.01557738 0.05692705
+v -0.01035319 0.01572936 0.05693994
+v -0.01035319 0.01636953 0.05696756
+v -0.01333895 0.02832997 0.05687365
+v -0.01035319 0.03347430 0.05684787
+v -0.01219399 0.03217325 0.05685892
+v -0.01367808 0.02808588 0.05685524
+v -0.01367808 0.01564877 0.05665822
+v -0.01035319 0.01168114 0.05592536
+v -0.01063732 0.01493952 0.05677422
+v -0.01035319 0.01540007 0.05688838
+v -0.01367808 0.03132123 0.05680736
+v -0.01035319 0.03417203 0.05654405
+v -0.01128823 0.03317033 0.05676501
+v -0.01361299 0.03210186 0.05666742
+v -0.01367808 0.03198442 0.05668584
+v -0.01367808 0.01541849 0.05655878
+v -0.01367808 0.01491880 0.05606714
+v -0.01367808 0.01435232 0.05542636
+v -0.01367808 0.01168114 0.05220400
+v -0.01035319 0.01168114 0.03816190
+v -0.01035319 0.03420427 0.05652564
+v -0.01277786 0.03285947 0.05653669
+v -0.01367808 0.03207653 0.05666006
+v -0.01367808 0.01168114 0.03816190
+v -0.01035319 0.03471548 0.03816190
+v -0.01035319 0.03422960 0.05649986
+v -0.01367808 0.03287558 0.05604137
+v -0.01367808 0.03297460 0.03816190
+v -0.01035319 0.03483752 0.03861487
+v -0.01035319 0.03498720 0.05563627
+v -0.01367808 0.03315191 0.05575227
+v -0.01367808 0.03301145 0.03832026
+v -0.01035319 0.03492503 0.03895000
+v -0.01035319 0.03518063 0.05506361
+v -0.01211783 0.03410065 0.05559024
+v -0.01367808 0.03339831 0.05504336
+v -0.01367808 0.03313810 0.03890397
+v -0.01289893 0.03354799 0.03887082
+v -0.01061909 0.03483292 0.04002719
+v -0.01035319 0.03495957 0.03969574
+v -0.01035319 0.03520136 0.05466772
+v -0.01287387 0.03385886 0.05489237
+v -0.01367808 0.03340522 0.05502310
+v -0.01367808 0.03321869 0.04069744
+v -0.01035319 0.03520596 0.05425342
+v -0.01035319 0.03497338 0.04034942
+v -0.01367808 0.03342824 0.05462537
+f 1 2 3
+f 1 3 14
+f 1 14 13
+f 1 13 12
+f 1 12 22
+f 1 22 20
+f 1 20 32
+f 1 32 37
+f 1 37 41
+f 1 41 45
+f 1 45 52
+f 1 52 58
+f 1 58 57
+f 1 57 53
+f 1 53 46
+f 1 46 42
+f 1 42 38
+f 1 38 33
+f 1 33 24
+f 1 24 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
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+f 2 11 12
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+f 2 14 3
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+f 2 15 7
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+f 10 12 11
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+f 26 35 27
+f 32 36 40
+f 32 40 37
+f 33 38 39
+f 33 39 34
+f 34 39 35
+f 37 40 41
+f 38 42 43
+f 38 43 39
+f 40 44 45
+f 40 45 41
+f 42 46 47
+f 42 47 43
+f 43 47 48
+f 44 49 50
+f 44 50 45
+f 45 50 49
+f 45 49 51
+f 45 51 52
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 47 55 48
+f 49 56 51
+f 51 57 58
+f 51 58 52
+f 51 56 57
+f 53 57 54
+f 54 59 55
+f 54 57 59
+f 56 59 57
+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_025.obj b/data/object_data/hug_release/rubiks_cube/collision/part_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166a608f320558505fbe938daf1fe1bd028ada06
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_025.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01355597 -0.02173963 0.03816006
+v -0.01355597 -0.02817381 0.03816006
+v -0.01355597 -0.02173963 0.03657344
+v -0.03422830 -0.02173963 0.03816006
+v -0.01407277 -0.03106838 0.03816006
+v -0.01370145 -0.03110728 0.03657344
+v -0.01361460 -0.03004410 0.03657344
+v -0.01355597 -0.02813816 0.03805228
+v -0.01355597 -0.02709929 0.03657344
+v -0.03390692 -0.02173963 0.03657344
+v -0.03497311 -0.02286926 0.03657344
+v -0.03561586 -0.02366017 0.03657344
+v -0.03567449 -0.02383358 0.03657344
+v -0.03566146 -0.02434248 0.03678513
+v -0.03473859 -0.02408479 0.03816006
+v -0.01371883 -0.03115914 0.03657344
+v -0.01437678 -0.03162428 0.03816006
+v -0.03573964 -0.02419824 0.03657344
+v -0.03570055 -0.02436031 0.03657344
+v -0.03527711 -0.02532948 0.03708005
+v -0.03471036 -0.02545428 0.03816006
+v -0.03471471 -0.02543159 0.03816006
+v -0.03484717 -0.02466662 0.03816006
+v -0.01460695 -0.03183659 0.03816006
+v -0.01451792 -0.03182687 0.03657344
+v -0.03549643 -0.02498428 0.03657344
+v -0.03445413 -0.02626139 0.03816006
+v -0.03450624 -0.02691453 0.03704713
+v -0.03393949 -0.02743964 0.03816006
+v -0.03397206 -0.02737319 0.03816006
+v -0.01518674 -0.03222070 0.03816006
+v -0.01683488 -0.03313639 0.03816006
+v -0.01817250 -0.03386409 0.03816006
+v -0.01633327 -0.03278956 0.03657344
+v -0.03453447 -0.02693722 0.03657344
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_026.obj b/data/object_data/hug_release/rubiks_cube/collision/part_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449373a8b1b6f071fba3e038bb92f0daffc1fb89
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_026.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_027.obj b/data/object_data/hug_release/rubiks_cube/collision/part_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82aab056fe920007d610c4e792eb2182e94f4fc5
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_027.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_028.obj b/data/object_data/hug_release/rubiks_cube/collision/part_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ee60b1e037a157ba3f96f56a57274d58d72aa4
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_028.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_029.obj b/data/object_data/hug_release/rubiks_cube/collision/part_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0305bf043efba24003436076648e930b4a41ee
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_029.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01074522 0.00724577 -0.00000492
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_030.obj b/data/object_data/hug_release/rubiks_cube/collision/part_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eecde88c2c8ace9f41c899253bac01fdfde309f7
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_030.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_031.obj b/data/object_data/hug_release/rubiks_cube/collision/part_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711b5761e777cf20cd838e939d2aa667cab7e76e
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_031.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_032.obj b/data/object_data/hug_release/rubiks_cube/collision/part_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f560341af1dcbad2eb8bc8ea5d54b2a5eec6bfc9
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_032.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01851010 0.02709082 -0.00009703
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_033.obj b/data/object_data/hug_release/rubiks_cube/collision/part_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e0b34a103f7d6322ba68d8a397b9af43ff8d6a
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_033.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_034.obj b/data/object_data/hug_release/rubiks_cube/collision/part_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81569b22a3f3f7ce141a13e32eccdd4b0ca0c689
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_034.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_035.obj b/data/object_data/hug_release/rubiks_cube/collision/part_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb1209281cf62aa5a8842665ed82ec3ae611fa8
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_035.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_036.obj b/data/object_data/hug_release/rubiks_cube/collision/part_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc70332fd2bd0b9fa18fd2050c9e5e461e80786
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_036.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_037.obj b/data/object_data/hug_release/rubiks_cube/collision/part_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51f3998e01a22e7eb8b2b6186c641030a76bfa5
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_037.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_038.obj b/data/object_data/hug_release/rubiks_cube/collision/part_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a324fbf5898dae00656d8410cc20db55d8509411
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_038.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_039.obj b/data/object_data/hug_release/rubiks_cube/collision/part_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6758b0c945073feee17b861767dc72cbdf28e55
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_039.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_040.obj b/data/object_data/hug_release/rubiks_cube/collision/part_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0033d82191d4e4451d2f7de209e18a53821314
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_040.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_041.obj b/data/object_data/hug_release/rubiks_cube/collision/part_041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6c6b6703cfba395127d9e3e7f4a0d6725e5805
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_041.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_042.obj b/data/object_data/hug_release/rubiks_cube/collision/part_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb6e26c8f842d65fb37bcffa0db1604ecf2b12f
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_042.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_043.obj b/data/object_data/hug_release/rubiks_cube/collision/part_043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833288eb9aa53175b72cf74c5c3f69110e0d0a8c
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_043.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00701800 0.00427392 0.03816006
+v 0.00701800 0.01608975 0.03816006
+v 0.01038250 0.00427392 0.03816006
+v 0.00701800 0.00427392 0.05725654
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+
diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_044.obj b/data/object_data/hug_release/rubiks_cube/collision/part_044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6078b7d4372563578407bc45e9d1a2bc0729ba76
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_044.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.01729748 0.00295403 0.05731700
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+v -0.01952872 -0.00038154 0.05729075
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_045.obj b/data/object_data/hug_release/rubiks_cube/collision/part_045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87d73ffa00cc84a0eac53144e9bc81802bb0189
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_045.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_046.obj b/data/object_data/hug_release/rubiks_cube/collision/part_046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66797ebbf4a34510c3ee5bf3163c578373d13d99
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_046.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_047.obj b/data/object_data/hug_release/rubiks_cube/collision/part_047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f42e6e1a150e0fb4f3f26c675fb12dcb60ef10
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_047.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_048.obj b/data/object_data/hug_release/rubiks_cube/collision/part_048.obj
new file mode 100644
index 0000000000000000000000000000000000000000..def63609adc78dbdf46daa2fd092c41f85b92458
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_048.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_049.obj b/data/object_data/hug_release/rubiks_cube/collision/part_049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b9a9251095196e9dacff88db93b1208cb1e28e
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_049.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_050.obj b/data/object_data/hug_release/rubiks_cube/collision/part_050.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75febeefec86f14430f3ea221d316aa2105091f0
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_050.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_051.obj b/data/object_data/hug_release/rubiks_cube/collision/part_051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18638f2b7f0c6173601f26e7bef7414f5d1db81c
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_051.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_052.obj b/data/object_data/hug_release/rubiks_cube/collision/part_052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bade5fc456f90a90ac83d3dc5a62315797ef4805
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_052.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_053.obj b/data/object_data/hug_release/rubiks_cube/collision/part_053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..979339bda20ddb4bb9bf800cfc448e02a1e1dd4d
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_053.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_054.obj b/data/object_data/hug_release/rubiks_cube/collision/part_054.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0c7c3e23e9704d21a6b4b9a57f6b32643c372b
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_054.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_055.obj b/data/object_data/hug_release/rubiks_cube/collision/part_055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02aa32c5bc1e472470acdf7597e2ada0ea2f21af
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_055.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_056.obj b/data/object_data/hug_release/rubiks_cube/collision/part_056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c479cf6beb53e0610d4c0610ce0ee57d888c77
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_056.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_057.obj b/data/object_data/hug_release/rubiks_cube/collision/part_057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511a6eef8eff64d030f56c8fd48125f559a88a94
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_057.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_058.obj b/data/object_data/hug_release/rubiks_cube/collision/part_058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922908a9993aec048cb4e81cdcabb6b0802a3862
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_058.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_059.obj b/data/object_data/hug_release/rubiks_cube/collision/part_059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df03af82a0c78d372bb8b18c78e2ddca291863a9
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_059.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_060.obj b/data/object_data/hug_release/rubiks_cube/collision/part_060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff280be8695c6c2c26525e6fe996cfc79e6e64f
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_060.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_061.obj b/data/object_data/hug_release/rubiks_cube/collision/part_061.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043b83d0046a2f31a3915e1a70438890b07ee700
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_061.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_062.obj b/data/object_data/hug_release/rubiks_cube/collision/part_062.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac650e2e9d61617636b8d83d5535793787bdd7c
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_062.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_063.obj b/data/object_data/hug_release/rubiks_cube/collision/part_063.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d4fa01b71dd1e37b9b1979cfc1a90d2d6316b3
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_063.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_064.obj b/data/object_data/hug_release/rubiks_cube/collision/part_064.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac502cd29388d8690cd1a4d26ffc79bf7c6f7284
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_064.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/rubiks_cube/collision/part_065.obj b/data/object_data/hug_release/rubiks_cube/collision/part_065.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677cf8c5138cb37709bd969c87c1e4fddf738817
--- /dev/null
+++ b/data/object_data/hug_release/rubiks_cube/collision/part_065.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/soap_dispenser/collision/part_000.obj b/data/object_data/hug_release/soap_dispenser/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5839b66bf7628945d37780db58cbed49d3c679e9
--- /dev/null
+++ b/data/object_data/hug_release/soap_dispenser/collision/part_000.obj
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diff --git a/data/object_data/hug_release/soap_dispenser/collision/part_001.obj b/data/object_data/hug_release/soap_dispenser/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b50adc4dcbb98e877cb61d3b94adeb283f23486
--- /dev/null
+++ b/data/object_data/hug_release/soap_dispenser/collision/part_001.obj
@@ -0,0 +1,1783 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/soap_dispenser/textured.mtl b/data/object_data/hug_release/soap_dispenser/textured.mtl
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diff --git a/data/object_data/hug_release/soap_dispenser/textured.obj b/data/object_data/hug_release/soap_dispenser/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2560a6d04511f840454fa492a902838606933fcd
--- /dev/null
+++ b/data/object_data/hug_release/soap_dispenser/textured.obj
@@ -0,0 +1,18997 @@
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diff --git a/data/object_data/hug_release/spray/collision/part_000.obj b/data/object_data/hug_release/spray/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cfb2fb8919cac1ea7fa7be241e5120bd94387e
--- /dev/null
+++ b/data/object_data/hug_release/spray/collision/part_000.obj
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diff --git a/data/object_data/hug_release/spray/collision/part_001.obj b/data/object_data/hug_release/spray/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331053ef5ee0174f6b12ca5003cdb73bf833bbfb
--- /dev/null
+++ b/data/object_data/hug_release/spray/collision/part_001.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/spray/collision/part_002.obj b/data/object_data/hug_release/spray/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4da7e89bf035945ab6d89c8b952ae4521f2e3c2
--- /dev/null
+++ b/data/object_data/hug_release/spray/collision/part_002.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/spray/collision/part_003.obj b/data/object_data/hug_release/spray/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc811cd29492594e03ad6056fbeaed08bb270cef
--- /dev/null
+++ b/data/object_data/hug_release/spray/collision/part_003.obj
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diff --git a/data/object_data/hug_release/spray/collision/part_004.obj b/data/object_data/hug_release/spray/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65fe6547bce2e8378d0bf5f093416c95eb249e4b
--- /dev/null
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new file mode 100644
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--- /dev/null
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diff --git a/data/object_data/hug_release/spray/textured.mtl b/data/object_data/hug_release/spray/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
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diff --git a/data/object_data/hug_release/spray/textured.obj b/data/object_data/hug_release/spray/textured.obj
new file mode 100644
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diff --git a/data/object_data/hug_release/syrup_bottle/collision/part_000.obj b/data/object_data/hug_release/syrup_bottle/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb49b3e7d850bd1b5c176f8879a3d1b9ad2d8a1f
--- /dev/null
+++ b/data/object_data/hug_release/syrup_bottle/collision/part_000.obj
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diff --git a/data/object_data/hug_release/syrup_bottle/collision/part_001.obj b/data/object_data/hug_release/syrup_bottle/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f55bd7253931bd1ccb2c985d9d4a8e9c09cecf
--- /dev/null
+++ b/data/object_data/hug_release/syrup_bottle/collision/part_001.obj
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+f 9344/9344/9344 9332/9332/9332 9389/9389/9389
+f 9218/9218/9218 9344/9344/9344 9389/9389/9389
+f 9316/9316/9316 9352/9352/9352 9218/9218/9218
+f 9385/9385/9385 9316/9316/9316 9218/9218/9218
+f 9389/9389/9389 9397/9397/9397 9218/9218/9218
+f 9332/9332/9332 9313/9313/9313 9389/9389/9389
+f 9389/9389/9389 9313/9313/9313 9297/9297/9297
+f 9389/9389/9389 9297/9297/9297 9220/9220/9220
+f 9246/9246/9246 9243/9243/9243 9188/9188/9188
+f 9188/9188/9188 9243/9243/9243 9389/9389/9389
+f 9389/9389/9389 9220/9220/9220 9250/9250/9250
+f 9389/9389/9389 9250/9250/9250 9182/9182/9182
+f 9389/9389/9389 9391/9391/9391 9188/9188/9188
+f 9348/9348/9348 9394/9394/9394 9188/9188/9188
+f 9377/9377/9377 9246/9246/9246 9188/9188/9188
+f 9311/9311/9311 9377/9377/9377 9188/9188/9188
+f 9194/9194/9194 9311/9311/9311 9188/9188/9188
+f 9257/9257/9257 9194/9194/9194 9188/9188/9188
+f 9363/9363/9363 9347/9347/9347 9387/9387/9387
+f 9380/9380/9380 9363/9363/9363 9387/9387/9387
+f 9346/9346/9346 9380/9380/9380 9387/9387/9387
+f 9390/9390/9390 9346/9346/9346 9387/9387/9387
+f 9402/9402/9402 9390/9390/9390 9387/9387/9387
+f 9394/9394/9394 9387/9387/9387 9188/9188/9188
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_000.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee4acc0a3edfec315bdbe132a4d7e08c58afeb2
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_000.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.02595039 0.01349974 0.04451562
+v -0.02279941 0.00850112 0.04468544
+v -0.02585522 0.01359479 0.04451822
+v -0.02585522 0.01384525 0.04451562
+v -0.02533134 0.00000965 0.04451562
+v -0.02483662 0.00000965 0.04462582
+v -0.02483662 0.00035516 0.04462648
+v -0.02483662 0.00137359 0.04462729
+v -0.02381801 0.00341046 0.04469387
+v -0.01872671 0.01542043 0.04459707
+v -0.01893678 0.01542043 0.04459949
+v -0.01925659 0.01542043 0.04455919
+v -0.01960127 0.01542043 0.04451562
+v -0.02127751 0.00000965 0.04451562
+v -0.02381801 0.00000965 0.04465442
+v -0.01791818 0.01542043 0.04456261
+v -0.01719109 0.01542043 0.04451562
+v -0.01770811 0.01542043 0.04454971
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 17
+f 1 17 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 4
+f 2 4 3
+f 2 9 10
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 15 9
+f 6 9 7
+f 7 9 8
+f 9 15 16
+f 9 16 10
+f 10 16 18
+f 10 18 17
+f 10 17 13
+f 10 13 12
+f 10 12 11
+f 14 17 18
+f 14 18 16
+f 14 16 15
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_001.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0c9451c336ec1e17459cd930c0982aced34b0f
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_001.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00380473 -0.02311770 0.04451562
+v -0.01025447 -0.02311770 0.04451562
+v -0.00446564 -0.02311770 0.04453144
+v 0.00371402 -0.02405807 0.04451562
+v -0.01024760 -0.02312986 0.04451562
+v -0.01010195 -0.02311770 0.04453172
+v -0.00650197 -0.02311770 0.04457358
+v 0.00368104 -0.02409112 0.04451921
+v 0.00378272 -0.02409112 0.04451562
+v -0.00752151 -0.02311770 0.04458907
+v -0.00955783 -0.02338947 0.04451562
+v -0.00955783 -0.02311770 0.04458058
+v 0.00245265 -0.02430162 0.04451562
+v 0.00368104 -0.02412730 0.04451562
+v -0.00446564 -0.02409112 0.04461102
+v -0.00853830 -0.02311770 0.04459383
+v -0.00723846 -0.02409112 0.04451562
+v -0.00650197 -0.02430162 0.04451562
+v -0.00650197 -0.02409112 0.04455794
+v -0.00548381 -0.02409112 0.04460040
+v -0.00344748 -0.02471060 0.04451562
+v -0.00443954 -0.02466320 0.04451562
+v -0.00548381 -0.02457885 0.04451562
+f 1 2 6
+f 1 6 12
+f 1 12 16
+f 1 16 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 21
+f 1 21 22
+f 1 22 23
+f 1 23 18
+f 1 18 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 7 10
+f 4 10 8
+f 5 11 6
+f 6 11 12
+f 8 13 14
+f 8 14 9
+f 8 10 15
+f 8 15 13
+f 10 16 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 16
+f 13 15 21
+f 15 16 20
+f 15 20 22
+f 15 22 21
+f 18 23 19
+f 19 23 20
+f 20 23 22
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_002.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3234344ed2c88de6f16086d83e1c28020e5e5840
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_002.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01425875 0.00829115 0.04451562
+v 0.01183055 0.00646486 0.04600886
+v 0.01284790 0.00442859 0.04588007
+v 0.01386705 0.00137314 0.04585626
+v 0.01551811 0.00404282 0.04451562
+v 0.00696519 0.00829115 0.04451562
+v 0.01081230 0.00829115 0.04597451
+v 0.01183055 0.00544568 0.04609471
+v 0.01284790 0.00341080 0.04603883
+v 0.01081230 0.00748334 0.04614380
+v 0.01612046 0.00196260 0.04451562
+v 0.01385091 0.00116456 0.04589644
+v 0.01116278 0.00129361 0.04451562
+v 0.01197218 0.00116456 0.04564227
+v 0.00798434 0.00829115 0.04551462
+v 0.00973848 0.00829115 0.04617052
+v 0.01284790 0.00239162 0.04610994
+v 0.01286135 0.00116456 0.04613456
+v 0.01612046 0.00159079 0.04456357
+v 0.01612046 0.00116456 0.04451562
+v 0.01612046 0.00116456 0.04461460
+v 0.01128916 0.00116456 0.04451562
+v 0.01145678 0.00116456 0.04483669
+v 0.00881166 0.00829115 0.04592819
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 22
+f 1 22 13
+f 1 13 6
+f 1 6 15
+f 1 15 24
+f 1 24 16
+f 1 16 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 4
+f 4 11 5
+f 4 9 12
+f 4 12 11
+f 6 13 14
+f 6 14 15
+f 7 16 10
+f 8 17 9
+f 8 10 17
+f 9 17 12
+f 10 16 18
+f 10 18 17
+f 11 19 21
+f 11 21 20
+f 11 12 19
+f 12 21 19
+f 12 17 18
+f 12 18 14
+f 12 14 23
+f 12 23 22
+f 12 22 20
+f 12 20 21
+f 13 22 23
+f 13 23 14
+f 14 18 15
+f 15 18 24
+f 16 24 18
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_003.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92c1c3aee2bde3407d35480f35d626ade9885f8
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_003.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02168116 0.00829115 0.04451562
+v 0.02154319 0.00829115 0.04453214
+v 0.02201569 0.00799398 0.04451562
+v 0.01746946 0.00829115 0.04451562
+v 0.02099745 0.00829115 0.04459731
+v 0.02399667 0.00116456 0.04517746
+v 0.02220917 0.00771076 0.04451562
+v 0.01692373 0.00760403 0.04451562
+v 0.01794197 0.00748334 0.04462213
+v 0.01794197 0.00829115 0.04455941
+v 0.01997921 0.00829115 0.04461947
+v 0.02399667 0.00116456 0.04451562
+v 0.02399667 0.00245510 0.04451562
+v 0.02232941 0.00751055 0.04451562
+v 0.01997921 0.00748334 0.04468218
+v 0.01896098 0.00748334 0.04466501
+v 0.01794197 0.00646486 0.04465951
+v 0.01612209 0.00116456 0.04461448
+v 0.01685127 0.00748334 0.04451562
+v 0.01692373 0.00748334 0.04452424
+v 0.01692373 0.00646486 0.04456868
+v 0.01896098 0.00829115 0.04460742
+v 0.01874977 0.00829115 0.04459848
+v 0.01612209 0.00116456 0.04451562
+v 0.01655913 0.00646486 0.04451562
+v 0.01612209 0.00159009 0.04456343
+v 0.01612209 0.00196191 0.04451562
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 24
+f 1 24 27
+f 1 27 25
+f 1 25 19
+f 1 19 8
+f 1 8 4
+f 1 4 10
+f 1 10 23
+f 1 23 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 15
+f 6 15 16
+f 6 16 9
+f 6 9 17
+f 6 17 18
+f 6 18 24
+f 6 24 12
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 17
+f 9 16 22
+f 9 22 23
+f 9 23 10
+f 11 22 15
+f 15 22 16
+f 17 21 18
+f 18 21 25
+f 18 25 26
+f 18 26 27
+f 18 27 24
+f 19 21 20
+f 19 25 21
+f 25 27 26
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_004.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de049d77ca3e7954a5cca24fd4defed78df0f3cf
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_004.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02531604 0.01208687 0.04451562
+v -0.00034173 0.01208687 0.04451562
+v 0.02531604 -0.00194313 0.04451562
+v 0.02531604 0.01208687 -0.05011926
+v -0.00034173 0.00842118 0.04451562
+v -0.00034173 0.01208687 -0.04895861
+v 0.02204101 -0.00445124 0.04451562
+v 0.02531604 -0.00461637 0.04409779
+v 0.02531604 0.01208524 -0.05015640
+v 0.02529093 0.01208687 -0.05012854
+v 0.00960894 -0.00461637 0.04451562
+v -0.00034173 -0.00461637 0.04360567
+v 0.02148596 0.01208687 -0.05034210
+v -0.00034173 0.01150644 -0.04895861
+v 0.02147089 -0.00461637 0.04451562
+v 0.02531604 -0.00461637 -0.04964571
+v 0.02405274 0.00544547 -0.05011926
+v 0.02303306 0.00850130 -0.05024925
+v 0.02303306 0.00951991 -0.05025854
+v 0.02531604 0.00035405 -0.04985927
+v 0.02506991 0.00035405 -0.04994284
+v 0.02405274 -0.00461637 -0.04992427
+v -0.00034173 -0.00461637 -0.04886575
+v 0.02201589 0.01053852 -0.05030496
+v 0.02506991 -0.00461637 -0.04975713
+v 0.02531604 -0.00371875 -0.04970142
+v 0.02531604 -0.00066292 -0.04983142
+v 0.02506991 -0.00168153 -0.04988712
+v 0.02506991 -0.00270014 -0.04984999
+v 0.02506991 -0.00371875 -0.04980356
+v 0.02531604 -0.00270014 -0.04975713
+v 0.02531604 -0.00202815 -0.04978499
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 31
+f 1 31 32
+f 1 32 27
+f 1 27 20
+f 1 20 9
+f 1 9 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 23
+f 2 23 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 5 12 11
+f 6 13 14
+f 7 15 8
+f 8 15 11
+f 8 11 12
+f 8 12 23
+f 8 23 22
+f 8 22 25
+f 8 25 16
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 9 13 10
+f 9 20 21
+f 9 21 22
+f 9 22 17
+f 13 19 18
+f 13 18 24
+f 13 24 22
+f 13 22 23
+f 13 23 14
+f 16 25 26
+f 17 22 18
+f 18 22 24
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 25
+f 25 31 26
+f 25 30 31
+f 27 32 28
+f 28 32 29
+f 29 32 31
+f 29 31 30
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_005.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37803304a2c1b507f82da8f86ee9340f6d9b2f83
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_005.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00065411 -0.01211129 0.04451579
+v 0.00021424 -0.01489024 0.04451579
+v -0.00065411 -0.01203683 0.04458076
+v -0.00065411 -0.00590589 0.04451579
+v -0.00065411 -0.01193602 0.04466257
+v -0.00065411 -0.01196872 0.04463610
+v 0.00041195 -0.01511456 0.04451579
+v -0.00065411 -0.01097066 0.04521736
+v -0.00065411 -0.01124310 0.04508193
+v -0.00065411 -0.00640537 0.04506732
+v 0.00726648 -0.00713916 0.04547482
+v 0.00726648 -0.00698205 0.04521135
+v 0.00726648 -0.00676591 0.04482447
+v 0.00726648 -0.00663241 0.04451579
+v 0.00062671 -0.01518358 0.04451579
+v 0.00062671 -0.01492384 0.04458437
+v -0.00039205 -0.01104512 0.04523180
+v -0.00065411 -0.01046845 0.04531172
+v -0.00065411 -0.00695662 0.04542103
+v 0.00726648 -0.00775670 0.04596293
+v 0.00726648 -0.00734622 0.04564996
+v 0.00726648 -0.01134663 0.04451579
+v 0.00726648 -0.01088256 0.04529041
+v 0.00726648 -0.01063827 0.04557021
+v 0.00726648 -0.01020508 0.04585397
+v 0.00726648 -0.00978733 0.04607877
+v 0.00673772 -0.00983183 0.04605780
+v 0.00571896 -0.00983183 0.04600521
+v 0.00470020 -0.00983183 0.04592443
+v 0.00368144 -0.00983183 0.04583420
+v -0.00065411 -0.00881379 0.04553137
+v -0.00065411 -0.00779484 0.04558276
+v 0.00726648 -0.00822894 0.04616316
+v 0.00726648 -0.00903175 0.04624531
+v 0.00726648 -0.00881379 0.04627144
+f 1 2 3
+f 1 3 6
+f 1 6 5
+f 1 5 9
+f 1 9 8
+f 1 8 18
+f 1 18 31
+f 1 31 32
+f 1 32 19
+f 1 19 10
+f 1 10 4
+f 1 4 14
+f 1 14 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 20
+f 11 20 33
+f 11 33 35
+f 11 35 34
+f 11 34 26
+f 11 26 25
+f 11 25 24
+f 11 24 23
+f 11 23 22
+f 11 22 14
+f 11 14 13
+f 11 13 12
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 18
+f 18 30 31
+f 19 32 33
+f 19 33 20
+f 26 34 27
+f 27 34 28
+f 28 34 29
+f 29 34 35
+f 29 35 30
+f 30 35 31
+f 31 35 32
+f 32 35 33
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_006.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6c9a3eefc67c2cf4a6b7ee6a70edc0f01cff1d
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_006.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01780491 -0.00461391 -0.04945735
+v -0.01780491 0.01661664 -0.05056566
+v -0.01363228 0.02058641 -0.05063085
+v -0.00034173 -0.00461391 -0.04886129
+v -0.01780491 -0.00461391 0.04407789
+v -0.01780491 0.01766027 -0.05059360
+v -0.01770577 0.01766768 -0.05060291
+v -0.01668868 0.01868664 -0.05061222
+v -0.01575364 0.01978950 -0.05058428
+v -0.01466134 0.02058641 -0.05057497
+v -0.01264767 0.02058641 -0.05055635
+v -0.00034173 0.01965627 -0.04956912
+v -0.00034173 -0.00461391 0.04361222
+v -0.00724598 -0.00461391 0.04451562
+v -0.01780491 0.00942218 0.04445042
+v -0.01780491 0.01776637 -0.05058428
+v -0.01762714 0.01861263 -0.05050977
+v -0.01668868 0.01945395 -0.05051909
+v -0.01514339 0.02058641 -0.05054703
+v -0.01546988 0.02046058 -0.05052841
+v -0.00034173 0.02058641 -0.04934559
+v -0.00034173 0.02029528 -0.04945735
+v -0.00034173 0.02026567 -0.04946667
+v -0.00034173 0.01970561 -0.04956912
+v -0.00034173 0.00842049 0.04451562
+v -0.00204600 -0.00461391 0.04451562
+v -0.01780491 0.01448248 0.04451562
+v -0.01780491 0.01044115 0.04446906
+v -0.01780491 0.01850160 -0.05049115
+v -0.01780491 0.01979937 -0.05016518
+v -0.01723569 0.01922944 -0.05045390
+v -0.01558783 0.02058641 -0.05044458
+v -0.01780491 0.02058641 -0.04990440
+v -0.00034173 0.02058641 0.04418965
+v -0.00034173 0.01305395 0.04451562
+v -0.01780491 0.01773676 0.04451562
+v -0.01780491 0.02058641 0.04421759
+v -0.00052976 0.02058641 0.04419896
+v -0.01290579 0.02058641 0.04451562
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_007.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16509bea060fbcdbde372ee4f417211fd643f948
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_007.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01831341 0.02437378 0.04451562
+v -0.01766478 0.02433172 0.04451562
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_008.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5592938246c7612b4e716b494d2050b04494c188
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_008.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02127843 0.00000695 0.04451574
+v -0.01768594 -0.01211786 0.04451574
+v -0.03342692 0.00000695 0.04451574
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_009.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b60ad45c1ba4031bfa8f688b4ec7a4787c7a0e2
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_009.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01768668 -0.01211786 0.04451574
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+v -0.03182116 -0.01211786 0.04451574
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_010.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df79f013c1259c538facf3a5672ffb9898f3caa7
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_010.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02399667 0.00116456 0.04451574
+v 0.03360227 0.00116456 0.04451574
+v 0.02399667 0.00116456 0.04517743
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+f 46 49 50
+f 46 50 47
+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_011.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b102d0512646e06a8106c870d2b848162ecbf244
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_011.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00969028 0.00443001 0.04451562
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+v -0.00942860 0.00341123 0.04472763
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+v -0.00922104 0.00137492 0.04452794
+v -0.00877486 0.00137492 0.04503711
+v -0.00826658 0.00137492 0.04540624
+v -0.00811844 0.00000940 0.04535239
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+v -0.00752058 0.00035614 0.04557419
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+v -0.00859833 0.00000940 0.04478015
+v -0.00833666 0.00341123 0.04535506
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+v -0.00809716 0.00510962 0.04530016
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+v -0.00065488 0.00919736 0.04556514
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+v -0.00065488 0.00849253 0.04487288
+v -0.00483373 0.00000940 0.04539719
+v -0.00439021 0.00000940 0.04477169
+f 1 2 3
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+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 36
+f 1 36 47
+f 1 47 53
+f 1 53 46
+f 1 46 51
+f 1 51 40
+f 1 40 26
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+f 1 22 12
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+f 1 6 2
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+f 6 12 7
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+f 46 60 51
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+f 52 61 56
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_012.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0fa1b94336a12663e222f4f65756d170a5403bb
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_012.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.02063062 -0.02646628 0.04451574
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+v -0.00065411 -0.03379074 0.04451574
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+v -0.01971254 -0.02731667 0.04577319
+v -0.00065411 -0.03385293 0.04577319
+v -0.00070346 -0.03385220 0.04577319
+v -0.00089300 -0.03384497 0.04577319
+v -0.00141226 -0.03382400 0.04577319
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+v -0.01925252 -0.02744972 0.04451574
+v -0.01874314 -0.02796964 0.04577319
+v -0.00349125 -0.03358899 0.04577319
+v -0.00446658 -0.03346606 0.04577319
+v -0.00446658 -0.03325202 0.04451574
+v -0.01908668 -0.02756036 0.04451574
+v -0.01794747 -0.02848378 0.04577319
+v -0.00449422 -0.03346172 0.04577319
+v -0.00548535 -0.03309293 0.04451574
+v -0.01857729 -0.02788938 0.04451574
+v -0.01741440 -0.02880412 0.04577319
+v -0.01797709 -0.02826540 0.04451574
+v -0.01776188 -0.02839845 0.04451574
+v -0.01762960 -0.02847944 0.04451574
+v -0.01725250 -0.02870867 0.04451574
+v -0.00548535 -0.03330553 0.04577319
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+v -0.01160585 -0.03161777 0.04577319
+f 1 2 5
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_013.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d23961798feea5498906afedeec73f657d4427e
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_013.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.01102887 -0.02831778 0.04451562
+v 0.01102887 -0.03044850 0.04834528
+v 0.01102887 -0.03187842 0.04451562
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+v -0.00038996 -0.03267443 0.04942262
+v -0.00065296 -0.03052804 0.04451562
+v -0.00065296 -0.03325713 0.04943954
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+v 0.01042168 -0.03278892 0.04783756
+v 0.00466424 -0.03390671 0.04451562
+v 0.01102887 -0.03122161 0.04880900
+v 0.00062774 -0.03266298 0.04943132
+v 0.00571853 -0.03268528 0.04938829
+v 0.00635659 -0.03271179 0.04937716
+v -0.00065296 -0.03379101 0.04451562
+v -0.00065296 -0.03345960 0.04942987
+v -0.00038996 -0.03380789 0.04939747
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+v 0.00266543 -0.03408327 0.04880416
+v 0.00775507 -0.03311130 0.04877709
+v 0.00470197 -0.03394226 0.04865330
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+
diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_014.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e324b4f956b5a03a1af19e0c497cc14d9df6266
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_014.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02030482 -0.02404691 0.04451605
+v 0.02030482 -0.02481778 0.04780533
+v 0.02030482 -0.02712788 0.04451605
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+v 0.02030482 -0.02798376 0.04681910
+v 0.01997885 -0.02821127 0.04681910
+v 0.01748372 -0.02971967 0.04624745
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+v 0.01795587 -0.02872546 0.04451605
+v 0.02030482 -0.02531197 0.04856868
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+v 0.01102978 -0.03244230 0.04685156
+v 0.01146379 -0.03177394 0.04451605
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_015.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92aeb0e4796a0c5104a4f4f917f8f16b21e478b
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_015.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_016.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bc339395dac591dfc3298ae9d4a5a0199c8e5c
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_016.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_017.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6964fe63a42f26b008973091204d5648c0bd4da5
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_017.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_018.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c903faf33a43f50655e641809490ad58f64ebda7
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_018.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_019.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa34985c20f84e7465c78ef6e23d57a96a3042a
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_019.obj
@@ -0,0 +1,271 @@
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_020.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a2a7d4e301d07365613fd3fa9746726139ba9ec
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_020.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_021.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf88344bf4791e2f37a0905a45efb6973e59ac9
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_021.obj
@@ -0,0 +1,295 @@
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_022.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b11bc6576f62a1e3d43ce4ffc040c1dbff287ea
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_022.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_023.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ceaa30208ebd4c4de84b88008024fddf0cffa1
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_023.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_024.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bdc3092596cf6da56c98749f079a5735dee991b
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_024.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_025.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d68ac9e2039ae7b524c9a58412e23868fd08023
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_025.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_026.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b00adaf61595462325ae0de21a59f659d5bf95
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_026.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_027.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f3050ecd9e21ccb3b4cfc84bdec19f80245706
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_027.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_028.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39604b7a918f0cd435bbbc269ed0ee6d6664583d
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_028.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_029.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ffddac166928d5d1f3c925303e0ff4614d2113
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_029.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_030.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e236a9eb1e041dec5236e3f0d6e006e4a938119
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_030.obj
@@ -0,0 +1,391 @@
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_031.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df969910a13616c38a4bd55dfb9b2a1d63e4e99
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_031.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_032.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab6de6c8a6d36201ea338c4b149bc93c169d12b
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_032.obj
@@ -0,0 +1,412 @@
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_033.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3abb85f9f57897d902b721d3cc237fa67f806f
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_033.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_034.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7491b8a766dcbf1fe100f0ff8296d9c26728426e
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_034.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_035.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b065acc6a58837e9a9f149444f7999a579ff628
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_035.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_036.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc27fefdc20c581394b641126e7a80dc809019d
--- /dev/null
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_037.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a55f67809d0e048618764d26c890f3b4a2bdad
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_037.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_038.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8fd764b8fed9bf7f7bc75de122610ce88efaee
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_038.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_039.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba65a3383df39dd1f1f38c3aef6a7883ccd25e5
--- /dev/null
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_040.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5affbab0a59ee2addebb1c722591f597378767
--- /dev/null
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_041.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0819e70b38ea7a57b5aacaa5923c77b8bab5e160
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_041.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_042.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e11ce12185fbfc240bf2d764b977472bf68863f
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_042.obj
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diff --git a/data/object_data/hug_release/tomato_soup_can/collision/part_043.obj b/data/object_data/hug_release/tomato_soup_can/collision/part_043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19f2a504d884e0028691872cc3d3a6ef052d752
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/collision/part_043.obj
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index 0000000000000000000000000000000000000000..b92602ce519a0b9f300526949de951daa6e05ce1
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+f 8154/8154/8380 8155/8155/8394 8158/8158/8421
+f 8158/8158/8421 8161/8161/8384 8154/8154/8380
+f 8141/8141/8420 8145/8145/8378 8165/8165/8388
+f 8168/8168/8422 8145/8145/8378 8141/8141/8420
+f 8168/8168/8422 8155/8155/8394 8145/8145/8378
+f 8174/8174/8407 7944/7944/8095 7934/7934/8094
diff --git a/data/object_data/hug_release/tomato_soup_can/tomato_soup_can.stl b/data/object_data/hug_release/tomato_soup_can/tomato_soup_can.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6243fed142cb0a4838e0395118510732bbe08016
--- /dev/null
+++ b/data/object_data/hug_release/tomato_soup_can/tomato_soup_can.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178a82666b5617fd6e9fa451c50b2ec313748a3b2aa50b2a88d2d64093253665
+size 819284
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_000.obj b/data/object_data/hug_release/toy_airplane/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc673616558a9b6179a7366d016ba91b75fcd2c
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_000.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.05973000 0.06289119 0.07582328
+v 0.06032501 0.06287384 0.07526548
+v 0.05963367 0.06289119 0.07526548
+v 0.05857965 0.06289119 0.07994023
+v 0.06419540 0.01857973 0.07994023
+v 0.05904432 0.01857973 0.07526548
+v 0.00796994 0.06289119 0.07526548
+v 0.00889928 0.06289119 0.07994023
+v 0.00811161 0.01857973 0.07994023
+v 0.01254300 0.01857973 0.07526548
+v 0.00630958 0.06288685 0.07526548
+v 0.00630392 0.06289119 0.07526640
+v 0.00813994 0.03712418 0.07994023
+v 0.00808327 0.02942010 0.07994023
+v 0.01116598 0.01857973 0.07619988
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 3
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 5 9 15
+f 5 15 10
+f 5 10 6
+f 7 11 12
+f 8 12 13
+f 9 14 12
+f 9 12 15
+f 10 15 12
+f 10 12 11
+f 12 14 13
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_001.obj b/data/object_data/hug_release/toy_airplane/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97913be4133c1ad43df6f1e0a4cce13593dbb859
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_001.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.03451753 0.08211754 0.07994023
+v 0.03451753 0.06289120 0.07994023
+v 0.03451753 0.08211754 0.07400358
+v 0.00621313 0.08211754 0.07994023
+v 0.03451753 0.06289120 0.06655918
+v 0.00890061 0.06289120 0.07994023
+v 0.03451753 0.06834196 0.06655918
+v 0.02752455 0.08211754 0.07051258
+v 0.00621313 0.08211754 0.06921312
+v 0.00621313 0.07531915 0.07994023
+v 0.00621313 0.06289120 0.06655918
+v 0.00621313 0.06289120 0.07523885
+v 0.02580124 0.08211754 0.07017855
+v 0.02649943 0.08211754 0.07022702
+v 0.01678295 0.07091488 0.06655918
+v 0.01242203 0.06995309 0.06655918
+v 0.00621313 0.06599866 0.06655918
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 7 8
+f 4 9 17
+f 4 17 11
+f 4 11 12
+f 4 12 10
+f 5 11 17
+f 5 17 16
+f 5 16 15
+f 5 15 7
+f 6 10 12
+f 7 13 14
+f 7 14 8
+f 7 15 9
+f 7 9 13
+f 9 15 16
+f 9 16 17
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_002.obj b/data/object_data/hug_release/toy_airplane/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b83a372c0c15f216557951296c221e76726178f
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_002.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.08436775 0.06389774 0.14994429
+v 0.08436775 0.06341056 0.14992088
+v 0.08436775 0.06389774 0.13861441
+v 0.04209483 0.06389774 0.15103188
+v 0.08436775 0.06239060 0.14986754
+v 0.08436775 0.03479493 0.13861441
+v -0.01541863 0.06389774 0.13861441
+v 0.04192874 0.06067834 0.15051670
+v -0.01541863 0.06389774 0.15190351
+v 0.08062600 0.03479493 0.14227656
+v 0.08436775 0.03479493 0.14183423
+v 0.03209079 0.05495749 0.14921967
+v -0.01540885 0.03479493 0.13861441
+v -0.01541863 0.03480063 0.13861441
+v -0.01541863 0.05617973 0.15017196
+v -0.00889255 0.03479493 0.14400420
+v -0.01541863 0.03479493 0.14369198
+f 1 2 5
+f 1 5 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 13
+f 3 13 14
+f 3 14 7
+f 4 8 5
+f 4 9 8
+f 5 10 11
+f 5 8 12
+f 5 12 10
+f 6 11 10
+f 6 10 16
+f 6 16 17
+f 6 17 13
+f 7 14 17
+f 7 17 15
+f 7 15 9
+f 8 9 15
+f 8 15 12
+f 10 12 16
+f 12 15 16
+f 13 17 14
+f 15 17 16
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_003.obj b/data/object_data/hug_release/toy_airplane/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ee5f875f59b0c192012e48b660e3a033b82f42f
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_003.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.06822125 0.08933894 0.12544432
+v 0.06614369 0.08933894 0.12978483
+v 0.07083096 0.06928402 0.12978483
+v 0.06779845 0.06928402 0.12544432
+v -0.00364052 0.08933894 0.12544432
+v -0.00155567 0.08933894 0.12978483
+v 0.00378767 0.06928402 0.12978483
+v 0.00109778 0.06928402 0.12544432
+v -0.00288969 0.08559692 0.12544432
+v -0.00295530 0.08933894 0.12725233
+v -0.00255436 0.08933894 0.12810811
+v -0.00060801 0.08510021 0.12978483
+v 0.00230057 0.07456721 0.12978483
+v 0.00082806 0.07779484 0.12898599
+v 0.00266506 0.06928402 0.12818969
+v -0.00074651 0.08382604 0.12906460
+v -0.00017792 0.07403908 0.12544432
+v 0.00118525 0.07855660 0.12978483
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 3 7 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 15 14
+f 8 14 16
+f 8 16 17
+f 9 17 10
+f 10 17 11
+f 11 17 16
+f 11 16 12
+f 12 16 14
+f 12 14 18
+f 13 18 14
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_004.obj b/data/object_data/hug_release/toy_airplane/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8e28cd4f8183c12161b723b9587e69f00cbb2b
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_004.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.06256820 0.04262877 0.12544432
+v 0.06096649 0.04262877 0.12978483
+v 0.08437751 0.03633027 0.12978483
+v 0.08437751 0.03479209 0.12946317
+v 0.06046363 0.03479209 0.12544432
+v -0.00220788 0.04262877 0.12544432
+v -0.00534610 0.04262877 0.12978483
+v 0.08437751 0.03479209 0.12978483
+v 0.00739307 0.03479209 0.12544432
+v -0.00231962 0.04168438 0.12544432
+v -0.01075653 0.03479209 0.12978483
+v -0.00871714 0.04240092 0.12978483
+v -0.00860539 0.04262877 0.12977931
+v -0.00404239 0.03479209 0.12807284
+v 0.00706714 0.03484502 0.12544432
+v -0.00220788 0.04109902 0.12544432
+v -0.00019643 0.03832492 0.12544432
+v 0.00162877 0.03694861 0.12544432
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 6
+f 1 6 13
+f 1 13 7
+f 1 7 2
+f 2 7 12
+f 2 12 11
+f 2 11 8
+f 2 8 3
+f 3 8 4
+f 4 8 11
+f 4 11 14
+f 4 14 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 13 12
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 14
+f 14 18 15
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_005.obj b/data/object_data/hug_release/toy_airplane/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41094da8636ad380bfd62ede9d625edac77e10c6
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_005.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.06496471 0.10168272 0.05555828
+v 0.06432620 0.10161400 0.05555828
+v 0.04646699 0.09481106 0.06372134
+v 0.05806837 0.09547905 0.06372134
+v 0.06282007 0.09549663 0.06372134
+v 0.06706903 0.10134712 0.05555828
+v 0.04943893 0.09607673 0.05555828
+v 0.04940711 0.09604317 0.05555828
+v 0.04857981 0.09495968 0.05555828
+v 0.04631214 0.09452341 0.06372134
+v 0.06706903 0.09427731 0.06372134
+v 0.06706903 0.08535694 0.05555828
+v 0.04539786 0.09244274 0.06372134
+v 0.04876436 0.09430128 0.05555828
+v 0.06706903 0.08535694 0.06372134
+v 0.06048665 0.08535694 0.05555828
+v 0.06028300 0.08535694 0.06372134
+v 0.04886830 0.09416704 0.05555828
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 16
+f 1 16 18
+f 1 18 14
+f 1 14 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 13
+f 3 13 17
+f 3 17 15
+f 3 15 11
+f 3 11 5
+f 3 5 4
+f 5 11 6
+f 6 11 15
+f 6 15 12
+f 9 13 10
+f 9 14 13
+f 12 15 17
+f 12 17 16
+f 13 14 18
+f 13 18 16
+f 13 16 17
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_006.obj b/data/object_data/hug_release/toy_airplane/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a530280de053f0f646ff755908e4a2c8710d646d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_006.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.06401966 0.08933894 0.13309482
+v 0.06354355 0.08933894 0.13381942
+v 0.08437752 0.08084557 0.13861387
+v 0.08437752 0.08046985 0.13853930
+v 0.08437752 0.07730736 0.13794276
+v 0.06485696 0.07730736 0.13309482
+v 0.00051627 0.08933894 0.13309482
+v 0.06286222 0.08933894 0.13456077
+v 0.08437752 0.07730736 0.13861387
+v 0.05893840 0.08933894 0.13858361
+v 0.05890557 0.08933894 0.13861387
+v 0.00398860 0.07730736 0.13309482
+v 0.00123043 0.08674770 0.13309482
+v 0.00187072 0.07730736 0.13861387
+v 0.00244534 0.08933894 0.13564415
+v 0.00531842 0.08933894 0.13861387
+v 0.00319234 0.07977257 0.13309482
+v 0.00281474 0.08110588 0.13309482
+v 0.00446471 0.08933894 0.13780174
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 18
+f 1 18 13
+f 1 13 7
+f 1 7 15
+f 1 15 19
+f 1 19 16
+f 1 16 11
+f 1 11 10
+f 1 10 8
+f 1 8 2
+f 2 8 3
+f 3 9 5
+f 3 5 4
+f 3 8 10
+f 3 10 11
+f 3 11 16
+f 3 16 14
+f 3 14 9
+f 5 9 14
+f 5 14 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 12 14 17
+f 13 18 14
+f 14 16 19
+f 14 19 15
+f 14 18 17
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_007.obj b/data/object_data/hug_release/toy_airplane/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64aa5e5080c8d56c7c53d9b58a37ad87204b5c8a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_007.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.05921976 0.08535474 0.07993890
+v 0.05921976 0.07239120 0.07993890
+v 0.05921976 0.08535474 0.06972172
+v 0.03451754 0.08535474 0.07993890
+v 0.05858383 0.06289339 0.07993890
+v 0.05921976 0.06427441 0.07744958
+v 0.05921976 0.07000520 0.06625303
+v 0.05748847 0.07148958 0.06625303
+v 0.05569191 0.07256052 0.06625303
+v 0.05147976 0.07230543 0.06625303
+v 0.04865071 0.08535474 0.07005935
+v 0.03451754 0.08535474 0.07077345
+v 0.03451754 0.06289339 0.07993890
+v 0.05921976 0.06289339 0.07700611
+v 0.05921976 0.06289339 0.06625303
+v 0.03451754 0.06830092 0.06625303
+v 0.03563707 0.08535474 0.07064081
+v 0.03470614 0.08535474 0.07074934
+v 0.03451754 0.06289339 0.06625303
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 3
+f 1 3 11
+f 1 11 17
+f 1 17 18
+f 1 18 12
+f 1 12 4
+f 1 4 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
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+f 4 16 19
+f 4 19 13
+f 5 14 6
+f 5 13 19
+f 5 19 15
+f 5 15 14
+f 7 15 19
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+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 10 16 17
+f 10 17 11
+f 12 18 16
+f 16 18 17
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_008.obj b/data/object_data/hug_release/toy_airplane/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8aee5b7543fde72e632fa4d075c63b7008f8e6
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_008.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00512097 0.06289120 0.06136976
+v 0.00621313 0.06289120 0.06146522
+v 0.00102358 0.06289120 0.06146045
+v 0.00438389 0.06366477 0.05555828
+v 0.00621313 0.06382475 0.05555828
+v 0.00621313 0.06289120 0.07523855
+v 0.00102358 0.06289120 0.06147716
+v 0.00102358 0.06559023 0.05555828
+v 0.00157830 0.06502934 0.05555828
+v 0.00375602 0.06380405 0.05555828
+v 0.00621313 0.06600807 0.05555828
+v 0.00621313 0.07531915 0.07993785
+v 0.00102409 0.06289120 0.07470394
+v 0.00102358 0.06289308 0.07470394
+v 0.00102358 0.08211754 0.05555828
+v 0.00462365 0.08211754 0.05555828
+v 0.00621313 0.08211754 0.06921227
+v 0.00621313 0.08211754 0.07993785
+v 0.00537648 0.07852448 0.07993785
+v 0.00102358 0.08211754 0.07803808
+v 0.00444941 0.08211754 0.07993785
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
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+f 2 5 11
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+f 2 17 18
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+f 2 12 6
+f 3 7 14
+f 3 14 20
+f 3 20 15
+f 3 15 8
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+f 4 11 5
+f 6 12 13
+f 7 13 14
+f 11 16 17
+f 12 18 21
+f 12 21 19
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 15 20 21
+f 15 21 18
+f 15 18 17
+f 15 17 16
+f 19 21 20
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_009.obj b/data/object_data/hug_release/toy_airplane/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e88f8cefe0cec1df6134c9339588983bcad51a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_009.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01451561 0.09391537 0.05555912
+v 0.01457846 0.09383223 0.05617461
+v 0.01595367 0.09274097 0.06414732
+v 0.01595367 0.09283220 0.06199312
+v 0.01460184 0.09383223 0.05555912
+v 0.00102358 0.09383453 0.05555912
+v 0.01420433 0.09269132 0.06414732
+v 0.01595367 0.09014505 0.06414732
+v 0.01595367 0.09149382 0.06133476
+v 0.01506950 0.09227560 0.05555912
+v 0.00102358 0.08211942 0.05555912
+v 0.00102358 0.09199268 0.06414732
+v 0.00180983 0.09206658 0.06414732
+v 0.00893583 0.09244073 0.06414732
+v 0.01595367 0.09019356 0.06375381
+v 0.00458804 0.08211942 0.06414732
+v 0.00471226 0.08211942 0.06271792
+v 0.00462457 0.08211942 0.05555912
+v 0.01506950 0.09226059 0.05555912
+v 0.00102358 0.08211942 0.06414732
+v 0.01431832 0.09137488 0.05555912
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 21
+f 1 21 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
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+f 3 14 13
+f 3 13 12
+f 3 12 20
+f 3 20 16
+f 3 16 8
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+f 8 18 15
+f 9 15 19
+f 9 19 10
+f 11 18 17
+f 11 17 16
+f 11 16 20
+f 15 18 21
+f 15 21 19
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_010.obj b/data/object_data/hug_release/toy_airplane/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5549762775bc36d78c86430f7993852923bf7dbf
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_010.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.06615017 0.08933894 0.12978483
+v 0.06606400 0.08933894 0.12996592
+v 0.06486434 0.07730736 0.13309428
+v 0.06610377 0.08890078 0.12978483
+v -0.00156120 0.08933894 0.12978483
+v 0.06583865 0.08933894 0.13032777
+v 0.06431422 0.07730736 0.12978483
+v 0.06434736 0.07747697 0.12978483
+v 0.06402259 0.08933894 0.13309428
+v 0.00399304 0.07730736 0.13309428
+v -0.00060677 0.08510109 0.12978483
+v -0.00013618 0.08933894 0.13217816
+v 0.00153407 0.07730736 0.12978483
+v 0.00051998 0.08933894 0.13309428
+v 0.00319106 0.07977257 0.13309428
+v 0.00346943 0.07730736 0.13251312
+v 0.00118278 0.07855586 0.12978483
+v 0.00026150 0.08933894 0.13275446
+v 0.00251500 0.07730736 0.13117165
+v 0.00122918 0.08674770 0.13309428
+v 0.00281326 0.08110588 0.13309428
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 13
+f 1 13 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 18
+f 1 18 14
+f 1 14 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 14
+f 3 14 20
+f 3 20 21
+f 3 21 15
+f 3 15 10
+f 3 10 16
+f 3 16 19
+f 3 19 13
+f 3 13 7
+f 5 11 12
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 13 19 17
+f 14 18 20
+f 15 21 16
+f 16 21 19
+f 17 19 18
+f 18 19 20
+f 19 21 20
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_011.obj b/data/object_data/hug_release/toy_airplane/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc91e84c0aa7bdf472a710638e5a6e8696ef5e9
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_011.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00621313 0.06382482 0.05555936
+v 0.00621313 0.06289119 0.06146507
+v 0.00621313 0.06600775 0.05555936
+v 0.01656408 0.06449619 0.05555936
+v 0.03451753 0.06289119 0.06140585
+v 0.03309068 0.06289119 0.06136386
+v 0.00621313 0.06289119 0.06655787
+v 0.00621313 0.06599833 0.06655787
+v 0.01242203 0.06995193 0.06655787
+v 0.00988971 0.06712513 0.05555936
+v 0.01664165 0.06462026 0.05555936
+v 0.03451753 0.06718245 0.06020855
+v 0.03451753 0.06289119 0.06655787
+v 0.01678295 0.07091305 0.06655787
+v 0.03144494 0.06932768 0.06051326
+v 0.03451753 0.06949493 0.06088149
+v 0.01580770 0.06695159 0.05555936
+v 0.01687715 0.06602424 0.05555936
+v 0.03451753 0.06755543 0.06024086
+v 0.03451753 0.06834144 0.06655787
+v 0.03451753 0.06838934 0.06038836
+v 0.01665828 0.06632263 0.05555936
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 22
+f 1 22 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 13
+f 2 13 7
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 19
+f 5 19 21
+f 5 21 16
+f 5 16 20
+f 5 20 13
+f 7 13 20
+f 7 20 14
+f 7 14 9
+f 7 9 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 14 20 16
+f 14 16 15
+f 16 21 17
+f 17 21 22
+f 18 22 21
+f 18 21 19
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_012.obj b/data/object_data/hug_release/toy_airplane/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece1ac6e297f0e920365d8b1e29b7f336f68790d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_012.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.08436775 0.07730618 0.13861441
+v 0.08436775 0.03479209 0.13861441
+v 0.08436775 0.07730618 0.13794199
+v 0.00187351 0.07730618 0.13861441
+v 0.08436775 0.03479209 0.12978483
+v -0.01540885 0.03479209 0.13861441
+v 0.08436775 0.06238713 0.13444162
+v 0.07688426 0.05973624 0.12978483
+v 0.07542859 0.06241210 0.12978483
+v 0.07430509 0.06418907 0.12978483
+v 0.07138399 0.06871264 0.12978483
+v 0.06431082 0.07730618 0.12978483
+v 0.00153158 0.07730618 0.12978483
+v -0.01541863 0.07311553 0.13861441
+v 0.08436775 0.03633185 0.12978483
+v -0.01074877 0.03479209 0.12978483
+v -0.01541863 0.03480041 0.13861441
+v -0.01541863 0.03479209 0.13859799
+v 0.07831062 0.05545404 0.12978483
+v -0.00871670 0.04240351 0.12978483
+v -0.01541863 0.03479209 0.13067505
+v -0.01541863 0.04787175 0.13335348
+f 1 2 5
+f 1 5 15
+f 1 15 7
+f 1 7 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 14
+f 1 14 17
+f 1 17 6
+f 1 6 2
+f 2 6 18
+f 2 18 21
+f 2 21 16
+f 2 16 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 5 16 20
+f 5 20 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 19
+f 5 19 15
+f 6 17 18
+f 7 15 19
+f 7 19 8
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 21
+f 14 21 18
+f 14 18 17
+f 16 21 20
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_013.obj b/data/object_data/hug_release/toy_airplane/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80eae9704d02492f76588295388b0cf20e7b81fb
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_013.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.06703907 0.06289339 0.06104279
+v 0.06706827 0.06289339 0.06104279
+v 0.06430919 0.06289339 0.06104756
+v 0.05921976 0.06711122 0.05555828
+v 0.06268801 0.06734212 0.05555828
+v 0.06603256 0.06980509 0.05555828
+v 0.06706827 0.07094641 0.05555828
+v 0.06706827 0.06289339 0.07395453
+v 0.06255662 0.06289339 0.06106904
+v 0.05921976 0.06950381 0.05555828
+v 0.05921976 0.06289339 0.06124326
+v 0.06706827 0.08535474 0.05555828
+v 0.06706827 0.08535474 0.07767292
+v 0.05921976 0.07239120 0.07993785
+v 0.05921976 0.06427441 0.07744858
+v 0.05921976 0.06289339 0.07700466
+v 0.06048827 0.08535474 0.05555828
+v 0.05921976 0.08535474 0.06971824
+v 0.06069880 0.08535474 0.07993785
+v 0.06046907 0.08325023 0.07993785
+v 0.05952863 0.07481458 0.07993785
+v 0.05921976 0.08535474 0.07993785
+f 1 2 8
+f 1 8 16
+f 1 16 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 12
+f 2 12 13
+f 2 13 8
+f 3 9 4
+f 4 10 17
+f 4 17 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 4 9 11
+f 4 11 16
+f 4 16 15
+f 4 15 14
+f 4 14 22
+f 4 22 18
+f 4 18 10
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 10 18 17
+f 12 17 18
+f 12 18 22
+f 12 22 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 20
+f 14 20 19
+f 14 19 22
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_014.obj b/data/object_data/hug_release/toy_airplane/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999ae4d1040a3ccc7b1eb89ddb21b21e126c0f4a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_014.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04414449 0.01857540 0.05653277
+v 0.03839719 0.02240683 0.05684266
+v 0.06706903 0.01857540 0.05663179
+v 0.03330931 0.01857540 0.05662996
+v 0.03392347 0.02232783 0.05685916
+v 0.06325474 0.03159105 0.05800887
+v 0.06706903 0.03159105 0.05801621
+v 0.02979887 0.02516031 0.05717822
+v 0.06706903 0.01857540 0.06656108
+v 0.00244586 0.01857540 0.05706087
+v 0.00102358 0.01857540 0.05708104
+v 0.02727109 0.02915356 0.05768065
+v 0.02756201 0.03159105 0.05807488
+v 0.06706903 0.03159105 0.06872113
+v 0.00102358 0.03159105 0.05841778
+v 0.06706903 0.02468122 0.06757876
+v 0.05904609 0.01857540 0.07526548
+v 0.00102358 0.01857540 0.06731655
+v 0.00827074 0.03159105 0.05830226
+v 0.05700318 0.03159105 0.07526548
+v 0.00102358 0.03159105 0.06950594
+v 0.01254404 0.01857540 0.07526548
+v 0.00102358 0.02592736 0.06856344
+v 0.01350731 0.03159105 0.07526548
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 22
+f 1 22 18
+f 1 18 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 14
+f 3 14 16
+f 3 16 9
+f 4 10 5
+f 5 10 11
+f 5 11 8
+f 6 8 12
+f 6 12 13
+f 6 13 19
+f 6 19 15
+f 6 15 21
+f 6 21 24
+f 6 24 20
+f 6 20 14
+f 6 14 7
+f 8 11 15
+f 8 15 12
+f 9 16 17
+f 11 18 23
+f 11 23 21
+f 11 21 15
+f 12 15 19
+f 12 19 13
+f 14 17 16
+f 14 20 17
+f 17 20 24
+f 17 24 22
+f 18 22 23
+f 21 23 22
+f 21 22 24
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_015.obj b/data/object_data/hug_release/toy_airplane/collision/part_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00106973dd488de0a6303c8da9613ab2d374298c
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_015.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04976057 0.06743581 0.05555828
+v 0.05015712 0.06885162 0.05555828
+v 0.05056334 0.06668437 0.05555828
+v 0.03577973 0.06498558 0.05988810
+v 0.03451754 0.06718312 0.06020844
+v 0.05158615 0.06923870 0.05555828
+v 0.03451754 0.06755600 0.06024090
+v 0.03451754 0.06838978 0.06038850
+v 0.03451754 0.06949517 0.06088053
+v 0.05483594 0.06688216 0.05555828
+v 0.05921976 0.06289214 0.06124170
+v 0.03765125 0.06289214 0.06130346
+v 0.03451754 0.06289214 0.06140501
+v 0.05736032 0.06989739 0.05555828
+v 0.03451754 0.06913743 0.06256075
+v 0.05147976 0.07230408 0.06625303
+v 0.05851612 0.06706292 0.05555828
+v 0.05921976 0.06711025 0.05555828
+v 0.05921976 0.06289214 0.06625303
+v 0.03451754 0.06289214 0.06625303
+v 0.05569191 0.07255867 0.06625303
+v 0.05921976 0.06950180 0.05555828
+v 0.03451754 0.06829892 0.06625303
+v 0.05921976 0.07000244 0.06625303
+v 0.05748847 0.07148734 0.06625303
+f 1 2 6
+f 1 6 14
+f 1 14 22
+f 1 22 18
+f 1 18 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 13 20
+f 5 20 23
+f 5 23 15
+f 5 15 9
+f 5 9 8
+f 5 8 7
+f 6 9 14
+f 9 15 16
+f 9 16 14
+f 10 17 11
+f 11 17 18
+f 11 18 22
+f 11 22 24
+f 11 24 19
+f 11 19 20
+f 11 20 13
+f 11 13 12
+f 14 16 21
+f 14 21 22
+f 15 23 16
+f 16 23 20
+f 16 20 19
+f 16 19 24
+f 16 24 25
+f 16 25 21
+f 21 25 22
+f 22 25 24
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_016.obj b/data/object_data/hug_release/toy_airplane/collision/part_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d1e0a12620064a3698861dbbb8970a7d354090
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_016.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.06706903 0.00548515 0.06101362
+v 0.06706903 0.00559811 0.06157811
+v 0.06706903 0.00624449 0.05774556
+v 0.08696483 0.00698501 0.05836747
+v 0.07498922 0.00583030 0.06111986
+v 0.07280434 0.00583030 0.06157811
+v 0.06706903 0.06919470 0.06157811
+v 0.07032832 0.00642021 0.05775704
+v 0.09339064 0.00756864 0.05799363
+v 0.06706903 0.00767532 0.05629844
+v 0.08973716 0.00820874 0.05683249
+v 0.09339064 0.00815226 0.05717188
+v 0.09339064 0.00703521 0.06003395
+v 0.09339064 0.00684695 0.06120313
+v 0.08301762 0.00625077 0.06157811
+v 0.06977952 0.06959634 0.06157811
+v 0.06706903 0.00968978 0.05571213
+v 0.09339064 0.01066876 0.05586488
+v 0.08023499 0.00830915 0.05638917
+v 0.09339064 0.00888650 0.05658384
+v 0.09339064 0.00693480 0.06157811
+v 0.08594196 0.00641393 0.06157811
+v 0.09339064 0.06916960 0.06157811
+v 0.09339064 0.01117081 0.05580286
+v 0.09075745 0.01081938 0.05578449
+f 1 2 7
+f 1 7 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 15
+f 2 15 22
+f 2 22 21
+f 2 21 23
+f 2 23 16
+f 2 16 7
+f 3 8 9
+f 3 9 4
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 9 13
+f 4 13 5
+f 5 14 15
+f 5 15 6
+f 5 13 14
+f 7 16 17
+f 8 12 9
+f 9 12 20
+f 9 20 18
+f 9 18 24
+f 9 24 23
+f 9 23 21
+f 9 21 14
+f 9 14 13
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 18 20 19
+f 18 25 24
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_017.obj b/data/object_data/hug_release/toy_airplane/collision/part_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051ff0b40140cdf1617e8b8761b6d00963bb8000
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_017.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00497160 0.09102749 0.05555828
+v 0.00486935 0.07742769 0.05555828
+v 0.00483409 0.07742769 0.05359570
+v 0.00467543 0.07742769 0.04489352
+v 0.00443215 0.08420763 0.04489352
+v 0.00412893 0.09102749 0.04489352
+v -0.02999771 0.09102749 0.05555828
+v -0.02580901 0.07742769 0.05555828
+v -0.01418431 0.07742769 0.04489352
+v -0.01763611 0.09102749 0.04489352
+v -0.03104489 0.09102749 0.05308417
+v -0.03025862 0.08939275 0.05555828
+v -0.02969096 0.08563603 0.05555828
+v -0.02767066 0.07742769 0.05404145
+v -0.01533726 0.08083696 0.04489352
+v -0.02962750 0.07742769 0.05008393
+v -0.02965218 0.09102749 0.04703670
+v -0.01764668 0.09083846 0.04489352
+v -0.02996245 0.07742769 0.05024156
+v -0.03072756 0.08766348 0.05509791
+v -0.03093206 0.09102749 0.04781651
+v -0.03047370 0.08773537 0.05555828
+v -0.02877425 0.07742769 0.05313219
+v -0.01718127 0.08670101 0.04489352
+v -0.02987783 0.07742769 0.05138361
+v -0.02888002 0.07742769 0.05299961
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 17
+f 1 17 21
+f 1 21 11
+f 1 11 7
+f 1 7 12
+f 1 12 22
+f 1 22 13
+f 1 13 8
+f 1 8 2
+f 2 8 14
+f 2 14 23
+f 2 23 26
+f 2 26 25
+f 2 25 19
+f 2 19 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
+f 4 9 15
+f 4 15 24
+f 4 24 18
+f 4 18 10
+f 4 10 6
+f 4 6 5
+f 7 11 12
+f 8 13 14
+f 9 16 17
+f 9 17 15
+f 10 18 17
+f 11 19 20
+f 11 20 12
+f 11 21 19
+f 12 20 22
+f 13 22 23
+f 13 23 14
+f 15 17 24
+f 16 19 17
+f 17 19 21
+f 17 18 24
+f 19 25 20
+f 20 25 22
+f 22 25 26
+f 22 26 23
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_018.obj b/data/object_data/hug_release/toy_airplane/collision/part_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546a4916adbc1259c4795cbe9b9a5105ad79f047
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_018.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.06419204 0.01857539 0.07994023
+v 0.06443722 0.01827866 0.07994023
+v 0.05677402 0.01857539 0.06846722
+v 0.00810933 0.01857539 0.07994023
+v 0.06566880 0.01629151 0.07994023
+v 0.06532669 0.01589475 0.07900689
+v 0.06282361 0.01353752 0.07524096
+v 0.06043457 0.00154463 0.07132340
+v 0.05945386 0.00154463 0.07036086
+v 0.05700780 0.00154463 0.06846722
+v 0.01525936 0.01857539 0.06846722
+v 0.00811503 0.01798525 0.07993799
+v 0.00811503 0.01798192 0.07994023
+v 0.06635871 0.00154463 0.07994023
+v 0.06427186 0.00154463 0.07615858
+v 0.06408371 0.00154463 0.07585533
+v 0.06366748 0.00154463 0.07529038
+v 0.06163194 0.00530054 0.07309911
+v 0.01857779 0.00154463 0.06846722
+v 0.01565848 0.00154463 0.07078878
+v 0.01487164 0.00154463 0.07145818
+v 0.01177557 0.00154463 0.07522636
+v 0.00990539 0.00154463 0.07808366
+v 0.00932380 0.00959323 0.07847789
+v 0.00983126 0.00154463 0.07821282
+v 0.00869091 0.00576898 0.07994023
+v 0.00903871 0.00154463 0.07994023
+f 1 2 3
+f 1 3 11
+f 1 11 4
+f 1 4 13
+f 1 13 26
+f 1 26 27
+f 1 27 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 19
+f 3 19 11
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 17
+f 8 17 16
+f 8 16 15
+f 8 15 14
+f 8 14 27
+f 8 27 25
+f 8 25 23
+f 8 23 22
+f 8 22 21
+f 8 21 20
+f 8 20 19
+f 8 19 10
+f 8 10 9
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 23
+f 12 23 25
+f 12 25 26
+f 12 26 13
+f 25 27 26
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_019.obj b/data/object_data/hug_release/toy_airplane/collision/part_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00cb76b7ed8778064170d17d471c4890f75bf83f
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_019.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00659048 -0.01082434 0.12797544
+v 0.00659048 -0.01058175 0.12905157
+v 0.00659048 -0.01043135 0.12511499
+v 0.01872824 -0.01384700 0.12159100
+v 0.02632647 -0.01477369 0.12220988
+v 0.00659048 -0.01034402 0.12970235
+v 0.03067685 -0.01477369 0.12360501
+v 0.00659048 -0.01031490 0.12444082
+v 0.01824791 -0.01321142 0.12159100
+v 0.02565201 -0.01477369 0.12159100
+v 0.00659048 -0.00969873 0.12367945
+v 0.00659048 -0.00849064 0.12246934
+v 0.00659048 -0.00711758 0.12200571
+v 0.00659048 -0.00588038 0.12183983
+v 0.00659048 -0.00960655 0.13049774
+v 0.03201581 -0.01477369 0.12364117
+v 0.01643110 -0.00932999 0.12159100
+v 0.03201581 -0.01477369 0.12159100
+v 0.01557745 -0.00631704 0.12159100
+v 0.00659048 0.03479208 0.12765431
+v 0.00661039 0.03479208 0.12159100
+v 0.01418125 -0.00866530 0.13088694
+v 0.00659048 -0.00811705 0.13134631
+v 0.03201581 -0.00815101 0.12671004
+v 0.03201581 0.03479208 0.12159100
+v 0.00659048 0.03479208 0.14331555
+v 0.00679705 -0.00810735 0.13134631
+v 0.03201581 0.01482701 0.13729478
+v 0.01863118 0.03479208 0.14316880
+v 0.03201581 0.03479208 0.14298591
+f 1 2 6
+f 1 6 15
+f 1 15 23
+f 1 23 26
+f 1 26 20
+f 1 20 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 17
+f 4 17 19
+f 4 19 21
+f 4 21 25
+f 4 25 18
+f 4 18 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 9
+f 5 10 18
+f 5 18 16
+f 5 16 7
+f 6 7 16
+f 6 16 15
+f 9 14 17
+f 14 19 17
+f 14 20 21
+f 14 21 19
+f 15 16 22
+f 15 22 23
+f 16 18 25
+f 16 25 30
+f 16 30 28
+f 16 28 24
+f 16 24 22
+f 20 26 29
+f 20 29 30
+f 20 30 25
+f 20 25 21
+f 22 27 23
+f 22 24 28
+f 22 28 27
+f 23 27 29
+f 23 29 26
+f 27 28 30
+f 27 30 29
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_020.obj b/data/object_data/hug_release/toy_airplane/collision/part_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16ff0b33d11a2ba13e2406d2613c6a8be5892a8
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_020.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07082293 0.06928205 0.12978483
+v 0.07138455 0.06871332 0.12978483
+v 0.06780209 0.06928205 0.12544432
+v 0.00378582 0.06928205 0.12978483
+v 0.07431179 0.06418948 0.12978483
+v 0.07542652 0.06241282 0.12978483
+v 0.06823607 0.06855417 0.12544432
+v 0.00109685 0.06928205 0.12544432
+v 0.00266258 0.06928205 0.12818969
+v -0.00697859 0.04638635 0.12978483
+v 0.07688163 0.05973870 0.12978483
+v 0.06857645 0.06795673 0.12544432
+v -0.00229841 0.04588022 0.12544432
+v -0.00861239 0.04263214 0.12977931
+v -0.00706368 0.04618286 0.12978483
+v 0.07831972 0.05545228 0.12978483
+v 0.07102716 0.06327376 0.12544432
+v -0.00220481 0.04263214 0.12544432
+v -0.00534478 0.04263214 0.12978483
+v 0.07824314 0.05311731 0.12978483
+v 0.07259289 0.05670976 0.12544432
+v 0.07248227 0.05892472 0.12544432
+v 0.06256881 0.04263214 0.12544432
+v 0.06096904 0.04263214 0.12978483
+v 0.07768151 0.05081365 0.12978483
+v 0.07244823 0.05423653 0.12544432
+v 0.06940186 0.04947007 0.12544432
+v 0.07594560 0.04944137 0.12978483
+v 0.07579243 0.04934745 0.12978483
+v 0.07156325 0.05179460 0.12544432
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 29
+f 1 29 28
+f 1 28 25
+f 1 25 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 12
+f 3 12 17
+f 3 17 22
+f 3 22 21
+f 3 21 26
+f 3 26 30
+f 3 30 27
+f 3 27 23
+f 3 23 18
+f 3 18 13
+f 3 13 8
+f 4 9 10
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 8 14 10
+f 8 10 9
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 19 15
+f 14 18 23
+f 14 23 24
+f 14 24 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 20 25 26
+f 20 26 21
+f 23 27 25
+f 23 25 28
+f 23 28 29
+f 23 29 24
+f 25 27 30
+f 25 30 26
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_021.obj b/data/object_data/hug_release/toy_airplane/collision/part_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ae5bae41fab31f37fbbf854d9cfba681c81ff0
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_021.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.06706903 0.06289119 0.07395468
+v 0.06706903 0.05989488 0.07346651
+v 0.06706903 0.06289119 0.06104260
+v 0.05963439 0.06289119 0.07526548
+v 0.06032614 0.06287588 0.07526548
+v 0.05700318 0.03159538 0.07526548
+v 0.06706903 0.05442309 0.07255604
+v 0.06703671 0.06289119 0.06104260
+v 0.06706903 0.03159538 0.05801560
+v 0.05962793 0.05763080 0.06051727
+v 0.00797335 0.06289119 0.07526548
+v 0.06706903 0.03159538 0.06872161
+v 0.06706903 0.04139926 0.07037700
+v 0.06706903 0.04707631 0.07133138
+v 0.01350731 0.03159538 0.07526548
+v 0.06430852 0.06289119 0.06104767
+v 0.06325474 0.03159538 0.05800884
+v 0.02756201 0.03159538 0.05807472
+v 0.00512233 0.06289119 0.06136861
+v 0.00616965 0.06289119 0.07522494
+v 0.00630541 0.06288507 0.07526548
+v 0.00103005 0.06289119 0.07470298
+v 0.00102358 0.05834465 0.07397664
+v 0.00102358 0.03159538 0.06950538
+v 0.00827074 0.03159538 0.05830276
+v 0.00523870 0.05245313 0.06034835
+v 0.00102358 0.06257563 0.06138382
+v 0.00102358 0.06289119 0.06146152
+v 0.00102358 0.06289119 0.06147672
+v 0.00102358 0.03159538 0.05841762
+v 0.00102358 0.04139926 0.05933316
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 9
+f 1 9 3
+f 1 3 8
+f 1 8 16
+f 1 16 19
+f 1 19 28
+f 1 28 29
+f 1 29 22
+f 1 22 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 9 10
+f 3 10 8
+f 4 11 21
+f 4 21 15
+f 4 15 6
+f 4 6 5
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 15 24
+f 6 24 30
+f 6 30 25
+f 6 25 18
+f 6 18 17
+f 6 17 9
+f 6 9 12
+f 8 10 16
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 11 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 20 22 21
+f 22 29 23
+f 23 29 28
+f 23 28 27
+f 23 27 31
+f 23 31 30
+f 23 30 24
+f 25 30 31
+f 25 31 26
+f 26 31 27
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_022.obj b/data/object_data/hug_release/toy_airplane/collision/part_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551864a80682d844d7fc205ce2cf5b55f5d446c5
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_022.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01384991 0.06897200 0.03246889
+v -0.01384991 0.07742769 0.03246889
+v -0.01088333 0.06606451 0.03246889
+v -0.01384991 0.07100373 0.05042780
+v -0.01384991 0.07742769 0.05555828
+v 0.00444000 0.07742769 0.03246889
+v -0.00880732 0.06505538 0.03246889
+v -0.01384991 0.07133652 0.05165505
+v 0.00375401 0.06380373 0.05555828
+v -0.01384991 0.07257469 0.05555828
+v 0.00487024 0.07742769 0.05555828
+v 0.00459946 0.07742769 0.03978038
+v 0.01413704 0.06996496 0.03246889
+v -0.00855459 0.06494759 0.03246889
+v -0.01384991 0.07211391 0.05434007
+v -0.01384991 0.07228906 0.05493675
+v -0.00836203 0.06488831 0.03246889
+v 0.00438283 0.06366361 0.05555828
+v 0.01665533 0.06632319 0.05555828
+v 0.01574971 0.06750747 0.05202797
+v 0.01516000 0.06850044 0.04460574
+v 0.01473879 0.06931017 0.03246889
+v -0.00482681 0.06494220 0.03246889
+v 0.01655905 0.06449625 0.05555828
+v 0.01687496 0.06602544 0.05555828
+v 0.01501860 0.06850987 0.03246889
+v 0.01688700 0.06596616 0.05265402
+v 0.01589413 0.06746032 0.04270724
+v 0.01424536 0.06755463 0.03246889
+v 0.01542477 0.06643906 0.04125850
+v 0.01664029 0.06462154 0.05555828
+v 0.01499754 0.06814071 0.03246889
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 26
+f 1 26 32
+f 1 32 29
+f 1 29 23
+f 1 23 17
+f 1 17 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 10 9
+f 5 9 18
+f 5 18 24
+f 5 24 31
+f 5 31 25
+f 5 25 19
+f 5 19 11
+f 6 12 13
+f 7 14 9
+f 8 9 15
+f 9 10 16
+f 9 16 15
+f 9 14 17
+f 9 17 18
+f 11 19 20
+f 11 20 21
+f 11 21 13
+f 11 13 12
+f 13 21 22
+f 17 23 18
+f 18 23 24
+f 19 25 22
+f 19 22 21
+f 19 21 20
+f 22 25 27
+f 22 27 28
+f 22 28 26
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 25 31 27
+f 26 28 27
+f 26 27 32
+f 27 31 32
+f 29 32 30
+f 30 32 31
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_023.obj b/data/object_data/hug_release/toy_airplane/collision/part_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b01168cd5368faadb23862ca50b994a738e15ce6
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_023.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06184517 0.09719748 0.05555470
+v 0.04943807 0.09607860 0.05555470
+v 0.06184517 0.09366808 0.05555470
+v 0.06184517 0.09879516 0.04906026
+v 0.04940820 0.09604487 0.05555470
+v 0.06184517 0.10047431 0.04082489
+v 0.05025222 0.09857139 0.04030906
+v 0.04975360 0.09717773 0.04867338
+v 0.05966111 0.09366808 0.05555470
+v 0.06184517 0.09366808 0.01898809
+v 0.04858106 0.09496137 0.05555470
+v 0.04896801 0.09604816 0.05085850
+v 0.06184517 0.10177335 0.02998172
+v 0.05142476 0.10141630 0.02195411
+v 0.05082616 0.09991733 0.03212026
+v 0.05020418 0.09974950 0.02850945
+v 0.04985229 0.09368700 0.05555470
+v 0.06001949 0.09366808 0.02584791
+v 0.06176596 0.09366808 0.01896301
+v 0.06175298 0.09387540 0.01899526
+v 0.06184517 0.09429004 0.01909914
+v 0.04876545 0.09430238 0.05555470
+v 0.05050023 0.09954383 0.02245920
+v 0.05007823 0.09837559 0.03009993
+v 0.06184517 0.10195764 0.02384549
+v 0.05882228 0.10207200 0.02158874
+v 0.05087680 0.10087743 0.02119469
+v 0.04886803 0.09416828 0.05555470
+v 0.06010779 0.09366808 0.02060722
+v 0.06184517 0.10003004 0.02068961
+v 0.04921992 0.09547638 0.04749127
+v 0.06184517 0.10150927 0.02203292
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 28
+f 1 28 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 30
+f 1 30 32
+f 1 32 25
+f 1 25 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 18
+f 3 18 29
+f 3 29 19
+f 3 19 10
+f 5 8 12
+f 5 12 11
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 12
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 11 12 16
+f 11 16 23
+f 11 23 24
+f 11 24 22
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 16
+f 14 16 15
+f 16 27 23
+f 17 28 29
+f 17 29 18
+f 19 29 23
+f 19 23 27
+f 19 27 20
+f 20 27 21
+f 21 27 30
+f 22 24 31
+f 22 31 28
+f 23 29 31
+f 23 31 24
+f 25 32 26
+f 26 32 30
+f 26 30 27
+f 28 31 29
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_024.obj b/data/object_data/hug_release/toy_airplane/collision/part_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea7d8dbff7d6de8bbe566b8172b6756234e1084
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_024.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01864785 -0.10187600 0.02059365
+v 0.02003932 -0.10172278 0.02129160
+v 0.01741532 -0.10133811 0.02497953
+v 0.01635250 -0.10173800 0.02037422
+v 0.01785676 -0.10110992 0.01470713
+v 0.02003932 -0.10105450 0.01504549
+v 0.02003932 -0.10175212 0.02031334
+v 0.02003932 -0.10133594 0.02326227
+v 0.01536248 -0.10051661 0.02324529
+v 0.02003932 -0.10105559 0.02454915
+v 0.02003932 -0.10092519 0.02493139
+v 0.02003932 -0.10043729 0.02628765
+v 0.01728766 -0.10078501 0.02628765
+v 0.01635814 -0.10041447 0.02628765
+v 0.01539119 -0.10041773 0.02052004
+v 0.01550911 -0.10054052 0.02005852
+v 0.01567420 -0.09908659 0.01182615
+v 0.01578238 -0.09915940 0.01182615
+v 0.01771423 -0.10005370 0.01182615
+v 0.02003932 -0.09995265 0.01182615
+v 0.02003932 -0.10078175 0.01407572
+v 0.01545784 -0.09988093 0.02628765
+v 0.01482978 -0.09611898 0.02628765
+v 0.01522251 -0.10004936 0.01981784
+v 0.02003932 -0.09135624 0.02628765
+v 0.01564600 -0.09901053 0.01182615
+v 0.02003932 -0.09077489 0.01182615
+v 0.01480210 -0.09478567 0.02628765
+v 0.01503025 -0.09341434 0.01182615
+v 0.01504512 -0.09382074 0.01182615
+v 0.01546758 -0.09199952 0.02628765
+v 0.01580340 -0.09177568 0.01182615
+v 0.01497539 -0.09269607 0.02628765
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 21
+f 2 21 20
+f 2 20 27
+f 2 27 25
+f 2 25 12
+f 2 12 11
+f 2 11 10
+f 2 10 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 9
+f 4 9 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 9 14 22
+f 9 22 23
+f 9 23 24
+f 9 24 15
+f 12 25 31
+f 12 31 33
+f 12 33 28
+f 12 28 23
+f 12 23 22
+f 12 22 14
+f 12 14 13
+f 15 24 16
+f 16 24 17
+f 17 24 26
+f 17 26 30
+f 17 30 29
+f 17 29 32
+f 17 32 27
+f 17 27 20
+f 17 20 19
+f 17 19 18
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 26
+f 25 27 31
+f 27 32 31
+f 28 33 29
+f 29 33 32
+f 31 32 33
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_025.obj b/data/object_data/hug_release/toy_airplane/collision/part_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da081ccb5afe37a617425d792f4ac211100d9c6
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_025.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03315832 0.11337708 0.07994023
+v 0.02975482 0.11331894 0.07994023
+v 0.03451754 0.11335872 0.07994023
+v 0.03451754 0.10015492 0.06598669
+v 0.02951496 0.11230303 0.07889672
+v 0.01595367 0.10050682 0.06751280
+v 0.02815938 0.11300376 0.07994023
+v 0.03451754 0.08212248 0.07994023
+v 0.03451754 0.10003252 0.06590838
+v 0.03383429 0.10009372 0.06596665
+v 0.02544821 0.10002028 0.06638734
+v 0.01595367 0.10041808 0.06742174
+v 0.01595367 0.10780180 0.07994023
+v 0.01821237 0.10944501 0.07994023
+v 0.01885382 0.10990400 0.07994023
+v 0.01907369 0.11001722 0.07994023
+v 0.02234091 0.11144318 0.07994023
+v 0.02358746 0.11190523 0.07994023
+v 0.01595367 0.08212248 0.07994023
+v 0.03451754 0.08212248 0.07400333
+v 0.03451754 0.09744991 0.06482116
+v 0.01595367 0.09149519 0.06133550
+v 0.01595367 0.09283546 0.06199475
+v 0.01595367 0.09851783 0.06557147
+v 0.01595367 0.08212248 0.07024632
+v 0.02752519 0.08212248 0.07051403
+v 0.03451754 0.08455822 0.07098024
+v 0.03451754 0.09529874 0.06448425
+v 0.03451754 0.09166043 0.06397251
+v 0.02650215 0.08212248 0.07022629
+v 0.02580255 0.08212248 0.07017894
+v 0.01989686 0.08212248 0.07017712
+v 0.03451754 0.09114023 0.06448425
+f 1 2 7
+f 1 7 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 20
+f 3 20 27
+f 3 27 33
+f 3 33 29
+f 3 29 28
+f 3 28 21
+f 3 21 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 24
+f 6 24 23
+f 6 23 22
+f 6 22 25
+f 6 25 19
+f 6 19 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 8 19 25
+f 8 25 32
+f 8 32 31
+f 8 31 30
+f 8 30 26
+f 8 26 20
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 20 26 27
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 25
+f 26 30 29
+f 26 29 33
+f 26 33 27
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_026.obj b/data/object_data/hug_release/toy_airplane/collision/part_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb360ef16a5981fa78e4e564797b6d5c95d5b617
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_026.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.06422617 0.03479208 0.11283090
+v 0.06311608 0.03479208 0.11631403
+v 0.06270866 -0.00321675 0.12158802
+v 0.06449778 0.01248360 0.11283090
+v 0.00417537 0.03479208 0.11283090
+v 0.06143324 0.03479208 0.12158802
+v 0.06332865 0.00207169 0.11283090
+v 0.06449188 0.01032941 0.11283090
+v 0.06233075 -0.00579790 0.12158802
+v 0.00834409 0.01352188 0.11283090
+v 0.00560430 0.03479208 0.11861926
+v 0.00661401 0.03479208 0.12158802
+v 0.06143915 -0.00802487 0.11283090
+v 0.06020506 -0.00853915 0.12158802
+v 0.05960869 -0.01477369 0.11283090
+v 0.01516992 -0.01027609 0.11283090
+v 0.01643352 -0.00932999 0.12158802
+v 0.01557734 -0.00631704 0.12158802
+v 0.00616525 0.03479208 0.12081218
+v 0.05663863 -0.01089712 0.12158802
+v 0.05865213 -0.01477369 0.11367704
+v 0.02132852 -0.01477369 0.11283090
+v 0.01565410 -0.01115912 0.11283090
+v 0.01853560 -0.01398285 0.12135655
+v 0.01825217 -0.01321142 0.12158802
+v 0.05023203 -0.01392948 0.12158802
+v 0.05042098 -0.01477369 0.12090048
+v 0.02346012 -0.01477369 0.11972429
+v 0.01617962 -0.01177529 0.11283090
+v 0.02358412 -0.01477369 0.11983317
+v 0.02565667 -0.01477369 0.12158802
+v 0.01873045 -0.01384700 0.12158802
+v 0.04841338 -0.01477369 0.12158802
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 13
+f 1 13 15
+f 1 15 22
+f 1 22 29
+f 1 29 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 12
+f 3 12 18
+f 3 18 17
+f 3 17 25
+f 3 25 32
+f 3 32 31
+f 3 31 33
+f 3 33 26
+f 3 26 20
+f 3 20 14
+f 3 14 9
+f 3 9 7
+f 5 10 11
+f 7 9 13
+f 9 14 15
+f 9 15 13
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 19 18
+f 14 20 15
+f 15 20 21
+f 15 21 27
+f 15 27 33
+f 15 33 31
+f 15 31 30
+f 15 30 28
+f 15 28 22
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 20 26 27
+f 20 27 21
+f 22 28 24
+f 22 24 29
+f 23 29 24
+f 24 28 30
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 26 33 27
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_027.obj b/data/object_data/hug_release/toy_airplane/collision/part_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ed7571d3a8cfe427bfbb32c348e7473e08a8ce
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_027.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.06706904 0.07094912 0.05555828
+v 0.08541274 0.08044148 0.05555828
+v 0.08860631 0.08099308 0.06157810
+v 0.08533046 0.07937767 0.06157810
+v 0.06706904 0.07119764 0.05635208
+v 0.06706904 0.10134466 0.05555828
+v 0.08587044 0.08069000 0.05555828
+v 0.08811261 0.08191140 0.05555828
+v 0.08972997 0.08363287 0.05555828
+v 0.09119819 0.08678486 0.05555828
+v 0.09333494 0.09667426 0.05555828
+v 0.08915914 0.08412386 0.06157810
+v 0.07897933 0.07768954 0.06157810
+v 0.06706904 0.07158558 0.05699384
+v 0.06706904 0.09346467 0.06157810
+v 0.07348702 0.09598930 0.06157810
+v 0.06991033 0.10177504 0.05555828
+v 0.09323723 0.09787747 0.05555828
+v 0.08881716 0.08823661 0.06157810
+v 0.06706904 0.07463150 0.06157810
+v 0.07504523 0.09614691 0.06157810
+v 0.07275677 0.10190839 0.05555828
+v 0.09260212 0.09983534 0.05555828
+v 0.09266126 0.09880186 0.05613050
+v 0.08878887 0.08856393 0.06157810
+v 0.08180263 0.09598324 0.06157810
+v 0.08358711 0.10167199 0.05555828
+v 0.09047822 0.10083246 0.05555828
+v 0.08625870 0.09435875 0.06157810
+v 0.08736179 0.09292823 0.06157810
+v 0.08792748 0.09188868 0.06157810
+v 0.08874773 0.10139619 0.05555828
+v 0.08692724 0.10155986 0.05555828
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 20
+f 1 20 15
+f 1 15 6
+f 1 6 17
+f 1 17 22
+f 1 22 27
+f 1 27 33
+f 1 33 32
+f 1 32 28
+f 1 28 23
+f 1 23 18
+f 1 18 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 19
+f 3 19 25
+f 3 25 31
+f 3 31 30
+f 3 30 29
+f 3 29 26
+f 3 26 21
+f 3 21 16
+f 3 16 15
+f 3 15 20
+f 3 20 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 6 15 16
+f 6 16 17
+f 11 18 12
+f 12 18 19
+f 13 20 14
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 21 26 27
+f 21 27 22
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 26 29 28
+f 26 28 32
+f 26 32 33
+f 26 33 27
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_028.obj b/data/object_data/hug_release/toy_airplane/collision/part_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddaca936857a6f2a0bd1396de3e50f7bd8ada394
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_028.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.03047676 0.08773393 0.05555880
+v -0.02969357 0.08563667 0.05555880
+v -0.02279285 0.07475029 0.06091629
+v -0.02964732 0.08796835 0.05706142
+v -0.02953940 0.09203784 0.05626212
+v -0.03025784 0.08939049 0.05555880
+v -0.02575911 0.07731639 0.05555880
+v -0.02436848 0.07568171 0.05555880
+v -0.02177532 0.07376886 0.06091629
+v -0.02415573 0.07994187 0.06091629
+v -0.02406631 0.08451458 0.06091629
+v -0.02225633 0.08799023 0.06091629
+v -0.02895355 0.09432889 0.05557716
+v -0.02896588 0.09434765 0.05555880
+v -0.02986316 0.09186906 0.05555880
+v -0.02182465 0.07359071 0.05555880
+v -0.02145156 0.07345318 0.05555880
+v 0.00102050 0.06558923 0.05555880
+v -0.02142689 0.07365947 0.06091629
+v -0.01944732 0.08941236 0.06091629
+v -0.02887338 0.09439453 0.05555880
+v 0.00102050 0.06618309 0.05715477
+v -0.01787478 0.07269054 0.06091629
+v 0.00102050 0.09383192 0.05555880
+v -0.01771752 0.08975305 0.06091629
+v -0.02179073 0.09582291 0.05555880
+v 0.00102050 0.06673319 0.05834375
+v 0.00102050 0.06963373 0.06091629
+v -0.00357382 0.09751697 0.05555880
+v 0.00102050 0.09378191 0.05577646
+v 0.00102050 0.09165653 0.06091629
+v -0.01761269 0.09650742 0.05555880
+v -0.01869497 0.09633864 0.05555880
+v 0.00102050 0.09345998 0.05717523
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 14
+f 1 14 21
+f 1 21 26
+f 1 26 33
+f 1 33 32
+f 1 32 29
+f 1 29 24
+f 1 24 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 19
+f 3 19 23
+f 3 23 28
+f 3 28 31
+f 3 31 25
+f 3 25 20
+f 3 20 12
+f 3 12 11
+f 3 11 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 11 12
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 12 20 13
+f 13 21 14
+f 13 20 21
+f 18 22 23
+f 18 23 19
+f 18 24 30
+f 18 30 34
+f 18 34 31
+f 18 31 28
+f 18 28 27
+f 18 27 22
+f 20 25 26
+f 20 26 21
+f 22 27 23
+f 23 27 28
+f 24 29 30
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 29 34 30
+f 29 32 31
+f 29 31 34
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_029.obj b/data/object_data/hug_release/toy_airplane/collision/part_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006668d66ecb6397c1d12846037daf906feff68b
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_029.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.07188014 0.08138860 0.01666510
+v 0.07191446 0.06978005 0.01666510
+v 0.05699188 0.07345524 0.01669820
+v 0.05272706 0.07434961 0.01692155
+v 0.06406273 0.08138860 0.01700841
+v 0.08291118 0.08138860 0.01666510
+v 0.07294849 0.06978005 0.03074924
+v 0.05210922 0.07053236 0.03074924
+v 0.05262409 0.07167219 0.02332318
+v 0.05243101 0.07293021 0.01725108
+v 0.09521223 0.06978005 0.01666510
+v 0.05156432 0.07237564 0.02534584
+v 0.05274851 0.07476212 0.01764817
+v 0.06099069 0.08138860 0.01863674
+v 0.06212339 0.08138860 0.01742067
+v 0.09195569 0.08138860 0.02346657
+v 0.09444851 0.07160855 0.01666510
+v 0.08117350 0.06978005 0.03074924
+v 0.05174881 0.07082101 0.03074924
+v 0.05153857 0.07106194 0.03074924
+v 0.09522081 0.07045395 0.01666510
+v 0.09526372 0.06978005 0.01740688
+v 0.05143131 0.07187561 0.03074924
+v 0.05214783 0.07265179 0.03074924
+v 0.05236236 0.07286317 0.03074924
+v 0.06105504 0.08138860 0.03074924
+v 0.06089201 0.08138860 0.02526725
+v 0.06093920 0.08138860 0.02088000
+v 0.09231610 0.08138860 0.02401119
+v 0.09429834 0.06978005 0.01967909
+v 0.09199431 0.07909870 0.03074924
+v 0.09247056 0.08084879 0.03074924
+v 0.09208870 0.07918621 0.03074924
+v 0.09232468 0.08138860 0.03074924
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 14
+f 1 14 28
+f 1 28 27
+f 1 27 26
+f 1 26 34
+f 1 34 29
+f 1 29 16
+f 1 16 6
+f 1 6 17
+f 1 17 21
+f 1 21 11
+f 1 11 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 11 22
+f 2 22 30
+f 2 30 18
+f 2 18 7
+f 3 10 4
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 17
+f 7 18 31
+f 7 31 33
+f 7 33 32
+f 7 32 34
+f 7 34 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 20
+f 7 20 19
+f 7 19 8
+f 8 19 10
+f 8 10 9
+f 10 19 20
+f 10 20 12
+f 11 21 22
+f 12 20 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 16 29 17
+f 17 29 21
+f 18 30 31
+f 21 29 32
+f 21 32 22
+f 22 32 33
+f 22 33 30
+f 29 34 32
+f 30 33 31
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_030.obj b/data/object_data/hug_release/toy_airplane/collision/part_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b3959649a938ecfea220bb0bf754b72274840a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_030.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01507300 0.09226563 0.05555123
+v 0.01460172 0.09383316 0.05555476
+v 0.01506879 0.09227623 0.05555476
+v 0.01507019 0.09226184 0.05555476
+v 0.01431840 0.09137508 0.05555476
+v 0.01441518 0.09247841 0.04921277
+v 0.01488645 0.09383467 0.04816929
+v 0.01451476 0.09391722 0.05555476
+v 0.01384993 0.09557486 0.04410463
+v 0.01406032 0.09133495 0.05555476
+v 0.00369787 0.09102749 0.02055926
+v 0.01320753 0.09497966 0.03261573
+v 0.01291439 0.09704471 0.02258277
+v 0.01425528 0.09487440 0.03986371
+v 0.01370686 0.09625792 0.03229140
+v 0.00074398 0.09392252 0.05555476
+v 0.00074398 0.09731582 0.04429147
+v 0.00074398 0.09587853 0.05149010
+v 0.01323138 0.09705986 0.02678491
+v 0.01165485 0.09871827 0.02196585
+v 0.01292140 0.09682587 0.03563690
+v 0.00497564 0.09102749 0.05555476
+v 0.00382971 0.09102749 0.02136302
+v 0.00290961 0.09102749 0.01990708
+v 0.01176566 0.09648359 0.02148993
+v 0.01167589 0.09813896 0.02113035
+v 0.00074398 0.09102749 0.05555476
+v 0.00074398 0.09876295 0.02374259
+v 0.00294186 0.09839870 0.02152166
+v 0.00216342 0.09102749 0.01954397
+v 0.00143687 0.09695991 0.02045350
+v 0.00074398 0.09102749 0.01968146
+v 0.00074398 0.09836084 0.02205750
+v 0.00074398 0.09755587 0.02123963
+v 0.00074398 0.09270711 0.01991766
+v 0.00074398 0.09663352 0.02062624
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 16
+f 2 16 27
+f 2 27 22
+f 2 22 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 2 7 9
+f 2 9 8
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 9
+f 8 9 17
+f 8 17 18
+f 8 18 16
+f 9 15 19
+f 9 19 20
+f 9 20 21
+f 9 21 17
+f 10 22 23
+f 10 23 11
+f 11 23 22
+f 11 22 27
+f 11 27 32
+f 11 32 30
+f 11 30 24
+f 11 24 25
+f 11 25 12
+f 12 25 13
+f 13 25 26
+f 13 26 20
+f 13 20 19
+f 13 19 15
+f 13 15 14
+f 16 18 17
+f 16 17 28
+f 16 28 33
+f 16 33 34
+f 16 34 36
+f 16 36 35
+f 16 35 32
+f 16 32 27
+f 17 21 20
+f 17 20 28
+f 20 26 29
+f 20 29 28
+f 24 30 25
+f 25 30 26
+f 26 30 31
+f 26 31 29
+f 28 29 33
+f 29 31 34
+f 29 34 33
+f 30 32 35
+f 30 35 31
+f 31 35 36
+f 31 36 34
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_031.obj b/data/object_data/hug_release/toy_airplane/collision/part_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca82a6de871179031edd8288ca6ca011fcda79d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_031.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07138301 0.08138859 0.05555828
+v 0.06073984 0.08138859 0.05555828
+v 0.07138301 0.07503101 0.05555828
+v 0.07138301 0.08138859 0.03074924
+v 0.06070598 0.08138859 0.05499488
+v 0.05015804 0.06885333 0.05555828
+v 0.06603285 0.06980474 0.05555828
+v 0.07138301 0.07408392 0.05383651
+v 0.07138301 0.07101955 0.03074924
+v 0.06105306 0.08138859 0.03074924
+v 0.06062767 0.08138859 0.05361552
+v 0.05080988 0.07073312 0.03935324
+v 0.04976440 0.06743558 0.05555828
+v 0.06268689 0.06734202 0.05555828
+v 0.07138301 0.07205876 0.04800580
+v 0.07138301 0.07343621 0.05241586
+v 0.07138301 0.07369385 0.05312497
+v 0.06538948 0.07051722 0.03074924
+v 0.07138301 0.07034449 0.03259243
+v 0.05214530 0.07265177 0.03074924
+v 0.06090068 0.08138859 0.03187118
+v 0.06071021 0.08138859 0.04201239
+v 0.05143209 0.07187596 0.03074924
+v 0.05019825 0.06879432 0.04864691
+v 0.05056650 0.06668568 0.05555828
+v 0.05066174 0.06898431 0.04302748
+v 0.07138301 0.07155355 0.04548993
+v 0.05851766 0.06706279 0.05555828
+v 0.07138301 0.07030707 0.03683251
+v 0.05210509 0.07053305 0.03074924
+v 0.05483731 0.06688287 0.05555828
+v 0.05123739 0.06671590 0.05555828
+v 0.06081814 0.08138859 0.03385523
+v 0.05153791 0.07106273 0.03074924
+v 0.05173473 0.06971406 0.03608940
+v 0.05174955 0.07082236 0.03074924
+f 1 2 6
+f 1 6 13
+f 1 13 25
+f 1 25 32
+f 1 32 31
+f 1 31 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 15
+f 1 15 27
+f 1 27 29
+f 1 29 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 21
+f 1 21 33
+f 1 33 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 18
+f 4 18 30
+f 4 30 36
+f 4 36 34
+f 4 34 23
+f 4 23 20
+f 4 20 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 19 18
+f 10 20 21
+f 11 22 20
+f 11 20 23
+f 11 23 12
+f 12 24 13
+f 12 23 24
+f 13 24 26
+f 13 26 25
+f 14 27 15
+f 14 28 19
+f 14 19 29
+f 14 29 27
+f 18 19 25
+f 18 25 30
+f 19 28 31
+f 19 31 32
+f 19 32 25
+f 20 22 33
+f 20 33 21
+f 23 34 26
+f 23 26 24
+f 25 26 35
+f 25 35 30
+f 26 34 36
+f 26 36 30
+f 26 30 35
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_032.obj b/data/object_data/hug_release/toy_airplane/collision/part_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7afeca6f78541f098ef9faa13368a5e35a6c69
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_032.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.08437752 0.03479208 0.14183323
+v 0.08437752 -0.00026687 0.13234257
+v 0.08437752 0.03479208 0.12946459
+v 0.08062568 0.03479208 0.14227519
+v 0.08073332 0.02240549 0.13891125
+v 0.08437752 -0.00421137 0.13110047
+v 0.08065643 -0.00382808 0.13178960
+v 0.08437752 0.02799959 0.12804445
+v 0.06143083 0.03479208 0.12159097
+v 0.03493733 0.03479208 0.14294756
+v 0.08437752 -0.00444425 0.13095804
+v 0.06377317 -0.00519143 0.13130784
+v 0.03979626 -0.01477369 0.12605876
+v 0.03201581 0.03479208 0.14298735
+v 0.03201581 0.01482701 0.13729422
+v 0.08437752 0.02607344 0.12764438
+v 0.08437752 -0.00105771 0.12204340
+v 0.06270707 -0.00321675 0.12159097
+v 0.03201581 0.03479208 0.12159097
+v 0.08437752 -0.00547283 0.13001338
+v 0.03942723 -0.01477369 0.12605667
+v 0.04004229 -0.01477369 0.12601477
+v 0.03201581 -0.00815101 0.12671018
+v 0.08437752 -0.00239680 0.12210624
+v 0.06020585 -0.00853915 0.12159097
+v 0.06233291 -0.00579790 0.12159097
+v 0.03201581 -0.01477369 0.12159097
+v 0.08437752 -0.00573482 0.12945621
+v 0.03201581 -0.01477369 0.12363949
+v 0.04841729 -0.01477369 0.12159097
+v 0.08437752 -0.00613267 0.12834188
+v 0.08437752 -0.00363401 0.12234921
+v 0.05023683 -0.01392948 0.12159097
+v 0.05664365 -0.01089712 0.12159097
+v 0.08437752 -0.00530302 0.12419247
+v 0.08437752 -0.00569116 0.12472659
+v 0.08437752 -0.00580275 0.12539268
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 28
+f 1 28 31
+f 1 31 37
+f 1 37 36
+f 1 36 35
+f 1 35 32
+f 1 32 24
+f 1 24 17
+f 1 17 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 5
+f 5 10 7
+f 6 7 11
+f 7 12 13
+f 7 13 11
+f 7 10 14
+f 7 14 15
+f 7 15 12
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 26
+f 9 26 25
+f 9 25 34
+f 9 34 33
+f 9 33 30
+f 9 30 27
+f 9 27 19
+f 11 13 20
+f 12 15 21
+f 12 21 13
+f 13 21 29
+f 13 29 27
+f 13 27 30
+f 13 30 22
+f 13 22 20
+f 14 19 27
+f 14 27 29
+f 14 29 23
+f 14 23 15
+f 15 23 21
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 22 28
+f 21 23 29
+f 22 30 31
+f 22 31 28
+f 24 32 30
+f 24 30 33
+f 24 33 34
+f 24 34 25
+f 30 32 35
+f 30 35 36
+f 30 36 37
+f 30 37 31
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_033.obj b/data/object_data/hug_release/toy_airplane/collision/part_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b18b144180af9a3777bec8667a21005ff3c19e
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_033.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.07120771 0.08933894 0.11283090
+v 0.07118450 0.08933894 0.11298647
+v 0.07248416 0.05893131 0.12544390
+v 0.07260019 0.05671548 0.12544390
+v 0.07088279 0.08011253 0.11283090
+v -0.00643099 0.08933894 0.11283090
+v 0.07013241 0.08933894 0.11987447
+v 0.07010146 0.08933894 0.12001646
+v 0.06866256 0.08933894 0.12452286
+v 0.06822161 0.08933894 0.12544390
+v 0.07245321 0.05423802 0.12544390
+v 0.06966824 0.05508164 0.11283090
+v 0.07051147 0.07063518 0.11283090
+v -0.00464397 0.07741616 0.11283090
+v -0.00232316 0.04168519 0.12544390
+v -0.00632268 0.08933894 0.11413467
+v -0.00363828 0.08933894 0.12544390
+v 0.06831444 0.04930979 0.11283090
+v 0.06949032 0.05420064 0.11283090
+v 0.07156357 0.05179793 0.12544390
+v 0.06422208 0.03479209 0.11283090
+v -0.00240052 0.06366198 0.11283090
+v -0.00213749 0.06209221 0.11283090
+v 0.00156032 0.04197886 0.11283090
+v -0.00221485 0.04110320 0.12544390
+v -0.00479869 0.08933894 0.12236473
+v -0.00503077 0.08933894 0.12169309
+v -0.00520870 0.08933894 0.12096465
+v -0.00571153 0.08933894 0.11871269
+v 0.06046238 0.03479209 0.12544390
+v 0.00418283 0.03479209 0.11283090
+v 0.00223336 0.03938393 0.11283090
+v -0.00019575 0.03832674 0.12544390
+v 0.00739328 0.03479209 0.12544390
+v 0.00560626 0.03479209 0.11862009
+v 0.00706063 0.03484548 0.12544390
+v 0.00162995 0.03694918 0.12544390
+v 0.00724630 0.03479209 0.12526241
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 19
+f 1 19 18
+f 1 18 21
+f 1 21 31
+f 1 31 32
+f 1 32 24
+f 1 24 23
+f 1 23 22
+f 1 22 14
+f 1 14 6
+f 1 6 16
+f 1 16 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 17
+f 1 17 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 17
+f 3 17 15
+f 3 15 25
+f 3 25 33
+f 3 33 37
+f 3 37 36
+f 3 36 34
+f 3 34 30
+f 3 30 20
+f 3 20 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 16
+f 11 18 19
+f 11 19 12
+f 11 20 21
+f 11 21 18
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 17 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 20 30 21
+f 21 30 34
+f 21 34 38
+f 21 38 35
+f 21 35 31
+f 24 32 25
+f 25 32 31
+f 25 31 33
+f 31 35 36
+f 31 36 37
+f 31 37 33
+f 34 36 38
+f 35 38 36
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_034.obj b/data/object_data/hug_release/toy_airplane/collision/part_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fbd0c499e183a8d9a40084c67fd8e22aae4a87
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_034.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01595367 0.10780455 0.07993869
+v 0.01595367 0.10050833 0.06751186
+v 0.00102358 0.09966356 0.06751032
+v 0.00102358 0.10070443 0.06945341
+v 0.00102358 0.10077483 0.06971310
+v 0.00102358 0.10124247 0.07166084
+v 0.00102358 0.10101871 0.07379561
+v 0.00102358 0.10077986 0.07515438
+v 0.00102358 0.10030468 0.07577735
+v 0.01354229 0.10605215 0.07993869
+v 0.01595367 0.08211942 0.07993869
+v 0.01595367 0.10042033 0.06742066
+v 0.00102358 0.09812486 0.06588102
+v 0.00102358 0.09956550 0.06738510
+v 0.00172653 0.09966356 0.06745157
+v 0.00102358 0.09797149 0.07836041
+v 0.00102358 0.09554277 0.07956460
+v 0.00102358 0.09395882 0.07993869
+v 0.00445066 0.08211942 0.07993869
+v 0.01595367 0.08211942 0.07024641
+v 0.01595367 0.09851707 0.06557186
+v 0.00467134 0.09824554 0.06581919
+v 0.01544801 0.09843662 0.06552858
+v 0.00102358 0.09759436 0.06555331
+v 0.00102358 0.09163318 0.07993869
+v 0.00102358 0.08211942 0.07803733
+v 0.00458804 0.08211942 0.06414816
+v 0.01595367 0.09014729 0.06414816
+v 0.01595367 0.09842405 0.06551312
+v 0.00102358 0.09558300 0.06465365
+v 0.00102358 0.08211942 0.06414816
+v 0.01595367 0.09274194 0.06414816
+v 0.01595367 0.09578162 0.06455780
+v 0.00419783 0.09540197 0.06454853
+v 0.00102358 0.09459240 0.06439549
+v 0.00102358 0.09199522 0.06414816
+v 0.01420433 0.09269418 0.06414816
+v 0.01520249 0.09561317 0.06451298
+v 0.01595367 0.09555283 0.06450834
+v 0.00893583 0.09244275 0.06414816
+v 0.00180983 0.09206814 0.06414816
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 18
+f 1 18 25
+f 1 25 19
+f 1 19 11
+f 1 11 20
+f 1 20 28
+f 1 28 32
+f 1 32 39
+f 1 39 33
+f 1 33 29
+f 1 29 21
+f 1 21 12
+f 1 12 2
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+f 2 13 14
+f 2 14 15
+f 2 15 3
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+f 3 31 26
+f 3 26 25
+f 3 25 18
+f 3 18 17
+f 3 17 16
+f 3 16 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 11 19 26
+f 11 26 31
+f 11 31 27
+f 11 27 20
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 19 25 26
+f 20 27 28
+f 21 29 23
+f 21 23 22
+f 23 29 30
+f 23 30 24
+f 27 31 36
+f 27 36 41
+f 27 41 40
+f 27 40 37
+f 27 37 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 30 34 35
+f 32 37 35
+f 32 35 38
+f 32 38 39
+f 33 39 38
+f 33 38 34
+f 34 38 35
+f 35 37 40
+f 35 40 41
+f 35 41 36
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_035.obj b/data/object_data/hug_release/toy_airplane/collision/part_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271669415cf2b686196420690e5f73afe9e88038
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_035.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00889342 0.03479208 0.14400370
+v 0.00659048 0.03479208 0.14331441
+v -0.01542839 0.03479208 0.14369058
+v -0.01542839 -0.01003799 0.13113341
+v -0.00458923 -0.00142991 0.13374487
+v 0.00659048 0.03479208 0.12765436
+v 0.00659048 -0.00792162 0.13140086
+v -0.01542839 0.03479208 0.13067679
+v -0.01542839 -0.01041985 0.13090075
+v -0.00363441 -0.00955030 0.13140521
+v 0.00659048 -0.00811486 0.13134650
+v 0.00581457 0.03479208 0.12732168
+v 0.00659048 -0.00587888 0.12184001
+v -0.00405039 0.03479208 0.12807402
+v -0.01542839 0.03311739 0.13016145
+v -0.01542839 -0.01155165 0.12978310
+v -0.00286065 -0.01133541 0.12955914
+v 0.00659048 -0.00960551 0.13049848
+v 0.00323894 -0.00624234 0.12179000
+v -0.01542839 -0.00666561 0.12190959
+v 0.00659048 -0.00712109 0.12200527
+v -0.01542839 0.01681221 0.12672372
+v -0.01542839 -0.01170807 0.12958523
+v -0.01542839 -0.01220956 0.12813925
+v 0.00659048 -0.01082472 0.12797618
+v 0.00659048 -0.01058548 0.12905250
+v 0.00659048 -0.01034624 0.12970265
+v -0.00168815 -0.00784341 0.12193786
+v -0.01426667 -0.00886479 0.12200309
+v -0.01542839 -0.00864395 0.12198352
+v 0.00659048 -0.00848752 0.12246841
+v -0.01542839 -0.01171728 0.12534732
+v 0.00472828 -0.01042906 0.12434710
+v 0.00659048 -0.01043366 0.12511466
+v -0.01542839 -0.00901201 0.12203788
+v 0.00659048 -0.00970213 0.12367956
+v -0.01469773 -0.01061308 0.12314465
+v -0.01542839 -0.01060388 0.12309899
+v -0.01542839 -0.01081092 0.12344472
+v -0.00169246 -0.01052567 0.12400354
+v 0.00659048 -0.01031403 0.12444060
+v -0.01542839 -0.01070510 0.12322728
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 11
+f 2 11 18
+f 2 18 27
+f 2 27 26
+f 2 26 25
+f 2 25 34
+f 2 34 41
+f 2 41 36
+f 2 36 31
+f 2 31 21
+f 2 21 13
+f 2 13 6
+f 3 8 15
+f 3 15 22
+f 3 22 20
+f 3 20 30
+f 3 30 35
+f 3 35 38
+f 3 38 42
+f 3 42 39
+f 3 39 32
+f 3 32 24
+f 3 24 23
+f 3 23 16
+f 3 16 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 7
+f 6 13 12
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 13 19
+f 12 19 20
+f 12 20 14
+f 13 21 19
+f 14 20 22
+f 14 22 15
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 19 21 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 21 31 28
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 28 31 29
+f 29 35 30
+f 29 31 35
+f 31 36 37
+f 31 37 38
+f 31 38 35
+f 32 39 40
+f 32 40 33
+f 33 36 41
+f 33 41 34
+f 33 40 42
+f 33 42 37
+f 33 37 36
+f 37 42 38
+f 39 42 40
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_036.obj b/data/object_data/hug_release/toy_airplane/collision/part_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8016667697dc8260599e256304fe38dddcf25a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_036.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.06262574 -0.06207737 0.06446309
+v 0.06851938 -0.10080552 0.06446309
+v 0.06129476 -0.06207737 0.06296841
+v 0.02081446 -0.06207737 0.06446309
+v 0.06851938 -0.10864689 0.06446309
+v 0.06851938 -0.10864689 0.06379294
+v 0.06198126 -0.06763926 0.06296841
+v 0.02203335 -0.06207737 0.06296841
+v 0.02090319 -0.06207737 0.06434486
+v 0.02086116 -0.07246261 0.06446309
+v 0.02640455 -0.10864689 0.06446309
+v 0.06310675 -0.10223703 0.06296841
+v 0.06313478 -0.10216864 0.06296841
+v 0.06372788 -0.10019918 0.06296841
+v 0.06436768 -0.09634688 0.06296841
+v 0.06438636 -0.09609159 0.06296841
+v 0.06448910 -0.09467831 0.06296841
+v 0.06349904 -0.08228712 0.06296841
+v 0.06339163 -0.08101974 0.06296841
+v 0.06298066 -0.07652007 0.06296841
+v 0.06295264 -0.07626021 0.06296841
+v 0.05910449 -0.10864689 0.06296841
+v 0.06126207 -0.10602550 0.06296841
+v 0.06195324 -0.10485841 0.06296841
+v 0.02201000 -0.06601172 0.06296841
+v 0.02201000 -0.06666365 0.06296841
+v 0.02203335 -0.08082826 0.06296841
+v 0.02116004 -0.08339495 0.06446309
+v 0.02400880 -0.10490400 0.06446309
+v 0.02560597 -0.10572917 0.06296841
+v 0.02720314 -0.10814997 0.06296841
+v 0.02705836 -0.10864689 0.06364237
+v 0.02768882 -0.10864689 0.06296841
+v 0.02214543 -0.08488116 0.06296841
+v 0.02144025 -0.08991422 0.06446309
+v 0.02246767 -0.09334710 0.06296841
+v 0.02379397 -0.10456208 0.06446309
+v 0.02473266 -0.10433414 0.06296841
+v 0.02190726 -0.09941048 0.06446309
+v 0.02272919 -0.09874032 0.06296841
+v 0.02460657 -0.10412899 0.06296841
+v 0.02222949 -0.10041345 0.06446309
+v 0.02366788 -0.10163981 0.06296841
+f 1 2 3
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+f 6 24 12
+f 8 25 9
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+f 9 27 10
+f 10 27 28
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 27 34 28
+f 28 34 36
+f 28 36 35
+f 29 37 30
+f 30 37 38
+f 31 33 32
+f 35 36 40
+f 35 40 39
+f 37 41 38
+f 37 42 43
+f 37 43 41
+f 39 40 42
+f 40 43 42
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_037.obj b/data/object_data/hug_release/toy_airplane/collision/part_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77fa570b4c968e4bcd79afc13112353f562cb3d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_037.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.06851409 -0.10865144 0.06446309
+v 0.06851409 -0.12071741 0.06446309
+v 0.06851409 -0.10865144 0.06379294
+v 0.02640444 -0.10865144 0.06446309
+v 0.06849820 -0.12071884 0.06446309
+v 0.06851409 -0.12068745 0.06437442
+v 0.06851409 -0.10921922 0.06374406
+v 0.05910814 -0.10865144 0.06296841
+v 0.02706116 -0.10865144 0.06364237
+v 0.02535051 -0.10886543 0.06446309
+v 0.06118952 -0.12115394 0.06446309
+v 0.06851409 -0.11935788 0.06340021
+v 0.06104123 -0.12113968 0.06439798
+v 0.04792797 -0.12075735 0.06356614
+v 0.06851409 -0.11833218 0.06298392
+v 0.05827664 -0.10966003 0.06296841
+v 0.02769141 -0.10865144 0.06296841
+v 0.01659069 -0.11064580 0.06446309
+v 0.05654480 -0.12140930 0.06446309
+v 0.06851409 -0.11873732 0.06298772
+v 0.03537611 -0.12245498 0.06446309
+v 0.03502127 -0.12246639 0.06445592
+v 0.01580156 -0.12319394 0.06446309
+v 0.02862882 -0.12097561 0.06343211
+v 0.04355336 -0.11582854 0.06296841
+v 0.04453844 -0.11577861 0.06296841
+v 0.04878595 -0.11516090 0.06296841
+v 0.04949563 -0.11492409 0.06296841
+v 0.05349952 -0.11325928 0.06296841
+v 0.05399736 -0.11294400 0.06296841
+v 0.05747692 -0.11050885 0.06296841
+v 0.02871886 -0.10970140 0.06296841
+v 0.01441927 -0.12154197 0.06376118
+v 0.01441927 -0.12097134 0.06379162
+v 0.01441927 -0.11869881 0.06394774
+v 0.01441927 -0.11379139 0.06446309
+v 0.03947003 -0.11549187 0.06296841
+v 0.03423214 -0.12250491 0.06446309
+v 0.01441927 -0.12322532 0.06446309
+v 0.01441927 -0.12171886 0.06382571
+v 0.03309347 -0.11317796 0.06296841
+v 0.03853791 -0.11521226 0.06296841
+v 0.03194421 -0.11247895 0.06296841
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 36
+f 1 36 39
+f 1 39 23
+f 1 23 38
+f 1 38 21
+f 1 21 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 15 16
+f 8 16 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 26
+f 8 26 25
+f 8 25 37
+f 8 37 42
+f 8 42 41
+f 8 41 43
+f 8 43 32
+f 8 32 17
+f 9 17 18
+f 9 18 10
+f 11 19 13
+f 12 14 20
+f 13 19 21
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 20
+f 15 20 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 20 24 37
+f 20 37 25
+f 21 38 22
+f 22 38 23
+f 23 39 24
+f 24 39 40
+f 24 40 33
+f 24 33 41
+f 24 41 42
+f 24 42 37
+f 32 43 33
+f 33 40 39
+f 33 39 36
+f 33 36 35
+f 33 35 34
+f 33 43 41
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_038.obj b/data/object_data/hug_release/toy_airplane/collision/part_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e9dabb4e1faa75621bb3c45619e086300679074
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_038.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02003983 -0.09077452 0.01182352
+v 0.01580375 -0.09177447 0.01182352
+v 0.02003983 -0.09995204 0.01182352
+v 0.02003983 -0.08029532 0.00725397
+v 0.01514802 -0.08029532 0.00696615
+v 0.01503059 -0.09341269 0.01182352
+v 0.01433592 -0.08029532 0.00654238
+v 0.01966197 -0.09996944 0.01182352
+v 0.02003983 -0.09972961 0.01122094
+v 0.02003983 -0.08029532 -0.00060404
+v 0.01504513 -0.09381886 0.01182352
+v 0.01424930 -0.08029532 0.00570955
+v 0.01771397 -0.10005261 0.01182352
+v 0.01762096 -0.09936212 0.00993863
+v 0.02003983 -0.09897335 0.00956630
+v 0.02003983 -0.08053322 -0.00062486
+v 0.01949223 -0.08029532 -0.00059792
+v 0.01410165 -0.08029532 0.00268931
+v 0.01500850 -0.09329471 0.01142915
+v 0.01519801 -0.09418055 0.00631335
+v 0.01564621 -0.09901011 0.01182352
+v 0.01578224 -0.09915904 0.01182352
+v 0.01566016 -0.09904492 0.01165450
+v 0.01581131 -0.09736995 0.00834032
+v 0.01742447 -0.09682065 0.00589081
+v 0.02003983 -0.09538358 0.00484611
+v 0.02003983 -0.08162214 -0.00068732
+v 0.01555553 -0.08029532 -0.00049871
+v 0.01565144 -0.08265497 -0.00063589
+v 0.01412548 -0.08029532 0.00237946
+v 0.01413129 -0.08070149 0.00252520
+v 0.01589153 -0.09500836 0.00506044
+v 0.01450508 -0.08433188 0.00163236
+v 0.01500850 -0.08996991 0.00291834
+v 0.01567412 -0.09908553 0.01182352
+v 0.01761282 -0.09410318 0.00337517
+v 0.02003983 -0.09532556 0.00479099
+v 0.02003983 -0.08399341 -0.00044605
+v 0.01498816 -0.08029532 0.00014673
+v 0.01713788 -0.08716347 0.00007202
+v 0.01539450 -0.08671668 0.00078115
+v 0.01426906 -0.08029532 0.00140333
+v 0.01677746 -0.09073583 0.00143885
+v 0.02003983 -0.09077065 0.00158091
+v 0.02003983 -0.09231023 0.00258767
+v 0.02003983 -0.08661610 -0.00002963
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 35
+f 1 35 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 26
+f 1 26 37
+f 1 37 45
+f 1 45 44
+f 1 44 46
+f 1 46 38
+f 1 38 27
+f 1 27 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 17
+f 4 17 28
+f 4 28 39
+f 4 39 42
+f 4 42 30
+f 4 30 18
+f 4 18 12
+f 4 12 7
+f 4 7 5
+f 6 7 12
+f 6 12 11
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 11 12 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 16 27 17
+f 17 27 29
+f 17 29 28
+f 18 30 31
+f 18 31 19
+f 19 31 20
+f 20 32 24
+f 20 24 23
+f 20 23 21
+f 20 31 33
+f 20 33 34
+f 20 34 32
+f 21 23 35
+f 22 35 23
+f 24 32 25
+f 25 32 36
+f 25 36 37
+f 25 37 26
+f 27 38 29
+f 28 29 39
+f 29 38 40
+f 29 40 41
+f 29 41 33
+f 29 33 39
+f 30 42 33
+f 30 33 31
+f 32 34 43
+f 32 43 36
+f 33 41 34
+f 33 42 39
+f 34 41 43
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 38 46 40
+f 40 46 43
+f 40 43 41
+f 43 46 44
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_039.obj b/data/object_data/hug_release/toy_airplane/collision/part_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ac0a9c734761ae57cfb2b961839f1b1d407a0e
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_039.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02223521 -0.07883611 0.03970517
+v 0.02223521 -0.08029531 0.03954242
+v 0.02464683 -0.08029531 0.03967524
+v 0.02769869 -0.07796136 0.03949752
+v 0.03414758 -0.07320967 0.03896251
+v 0.02586314 -0.07650994 0.03936470
+v 0.02223521 -0.07747820 0.03944889
+v 0.02223521 -0.08029531 0.03111310
+v 0.02680541 -0.08029531 0.03947695
+v 0.02520426 -0.07184008 0.03769979
+v 0.02223521 -0.07364023 0.03809825
+v 0.02223521 -0.07568780 0.03883343
+v 0.03414758 -0.08029531 0.03823294
+v 0.03414758 -0.06937365 0.03256475
+v 0.03099194 -0.06230360 0.02724826
+v 0.02988292 -0.06242439 0.02872610
+v 0.02866311 -0.06503694 0.03252360
+v 0.02869226 -0.06990551 0.03663537
+v 0.02279846 -0.08029531 0.02059422
+v 0.02223521 -0.06960354 0.02059422
+v 0.02223521 -0.07170760 0.03726392
+v 0.02286144 -0.06973018 0.03622382
+v 0.02223521 -0.06983148 0.03621447
+v 0.03414758 -0.08029531 0.02059422
+v 0.03414758 -0.06841513 0.02998507
+v 0.03094179 -0.06139183 0.02059422
+v 0.03035638 -0.06092037 0.02384734
+v 0.03414758 -0.06777807 0.02596871
+v 0.02976397 -0.06159445 0.02633349
+v 0.02518910 -0.06204254 0.02653739
+v 0.02223521 -0.06303223 0.02788803
+v 0.02376288 -0.06370631 0.02980362
+v 0.02223521 -0.06464729 0.03088675
+v 0.02223521 -0.06643770 0.03325503
+v 0.02263520 -0.06718581 0.03428578
+v 0.02545149 -0.06704359 0.03424837
+v 0.02223521 -0.06115026 0.02059422
+v 0.02223521 -0.06731245 0.03422031
+v 0.03414758 -0.06733193 0.02059422
+v 0.03014880 -0.06039435 0.02059422
+v 0.02675409 -0.06106648 0.02326369
+v 0.02223521 -0.06149315 0.02318138
+v 0.02223521 -0.06200357 0.02501091
+v 0.02223521 -0.06116000 0.02072516
+v 0.02470048 -0.06090089 0.02059422
+v 0.02290458 -0.06122039 0.02227970
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 11
+f 1 11 21
+f 1 21 23
+f 1 23 38
+f 1 38 34
+f 1 34 33
+f 1 33 31
+f 1 31 43
+f 1 43 42
+f 1 42 44
+f 1 44 37
+f 1 37 20
+f 1 20 8
+f 1 8 2
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+f 2 24 13
+f 2 13 9
+f 2 9 3
+f 3 9 4
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 5 9 13
+f 5 13 24
+f 5 24 39
+f 5 39 28
+f 5 28 25
+f 5 25 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 10
+f 8 20 19
+f 10 21 11
+f 10 18 22
+f 10 22 23
+f 10 23 21
+f 14 25 15
+f 15 26 27
+f 15 27 16
+f 15 25 28
+f 15 28 26
+f 16 27 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 35
+f 18 35 22
+f 19 20 37
+f 19 37 45
+f 19 45 40
+f 19 40 26
+f 19 26 39
+f 19 39 24
+f 22 35 23
+f 23 35 38
+f 26 40 27
+f 26 28 39
+f 27 40 41
+f 27 41 29
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 33 32
+f 34 38 35
+f 37 44 45
+f 40 45 46
+f 40 46 41
+f 41 46 42
+f 42 46 44
+f 44 46 45
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_040.obj b/data/object_data/hug_release/toy_airplane/collision/part_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff63a9ef372ed6e9a6395612c38eceef91d616d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_040.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.05493191 -0.01477369 0.11545968
+v 0.05457682 -0.01477369 0.11602740
+v 0.05511105 -0.01513856 0.11545968
+v 0.02243075 -0.01477369 0.11545968
+v 0.05385387 -0.01477369 0.11692523
+v 0.05395623 -0.01951694 0.11545968
+v 0.04918982 -0.02136672 0.12397645
+v 0.05106759 -0.02544176 0.12241209
+v 0.02498349 -0.02340530 0.11545968
+v 0.02745307 -0.02695426 0.12180337
+v 0.02288179 -0.01477369 0.11745720
+v 0.05121155 -0.01477369 0.12006869
+v 0.04852764 -0.03254179 0.12140702
+v 0.04795183 -0.03120536 0.11545968
+v 0.04643874 -0.01998575 0.12550087
+v 0.04859162 -0.02444899 0.12468610
+v 0.05042461 -0.01477369 0.12090028
+v 0.04783347 -0.02808067 0.12389235
+v 0.02798089 -0.02748034 0.11545968
+v 0.03405887 -0.03613741 0.12129453
+v 0.02858229 -0.02849857 0.11973121
+v 0.03073518 -0.02913708 0.12319742
+v 0.02797450 -0.02655333 0.12246991
+v 0.02346080 -0.01477369 0.11972595
+v 0.04778229 -0.03290029 0.12059750
+v 0.04405873 -0.03181842 0.12330466
+v 0.04296150 -0.03305515 0.12281369
+v 0.03554957 -0.03630500 0.12185699
+v 0.03571911 -0.03644500 0.12084561
+v 0.04579575 -0.03222147 0.11545968
+v 0.04365567 -0.01627982 0.12565437
+v 0.04121488 -0.01676136 0.12620001
+v 0.03498656 -0.01739563 0.12615165
+v 0.03894684 -0.03359608 0.12303973
+v 0.04003767 -0.01477369 0.12601287
+v 0.03653804 -0.03531010 0.11545968
+v 0.03180682 -0.02956135 0.12375042
+v 0.02979149 -0.02514478 0.12408054
+v 0.02633024 -0.01477369 0.12220918
+v 0.02358236 -0.01477369 0.11983424
+v 0.03849899 -0.03565587 0.11545968
+v 0.03979455 -0.01477369 0.12605808
+v 0.03725460 -0.01594465 0.12611800
+v 0.03067760 -0.01477369 0.12360324
+v 0.03226746 -0.01929208 0.12571114
+v 0.03168206 -0.02524448 0.12450632
+v 0.03942028 -0.01477369 0.12605492
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 30
+f 1 30 41
+f 1 41 36
+f 1 36 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
+f 1 11 24
+f 1 24 40
+f 1 40 39
+f 1 39 44
+f 1 44 47
+f 1 47 42
+f 1 42 35
+f 1 35 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
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+f 3 8 6
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+f 5 12 7
+f 6 8 13
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 7 12 17
+f 7 17 15
+f 8 16 18
+f 8 18 13
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 20
+f 10 20 22
+f 10 22 23
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+f 10 24 11
+f 13 25 14
+f 13 18 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 25
+f 14 25 30
+f 15 17 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 26
+f 16 26 18
+f 17 35 31
+f 19 36 20
+f 20 36 29
+f 20 29 28
+f 20 28 37
+f 20 37 22
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 25 29 41
+f 25 41 30
+f 26 34 27
+f 27 34 28
+f 28 34 37
+f 29 36 41
+f 31 35 42
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 39
+f 33 39 45
+f 33 45 37
+f 33 37 34
+f 37 45 46
+f 37 46 38
+f 38 46 45
+f 38 45 39
+f 42 47 43
+f 43 47 44
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_041.obj b/data/object_data/hug_release/toy_airplane/collision/part_041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f854f133f1fde1c7ac137da0df49e979e531f0bc
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_041.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.09582900 0.07403363 0.04415671
+v 0.09518770 0.08138860 0.04958429
+v 0.09527385 0.08067930 0.04929531
+v 0.09550596 0.07408416 0.04645888
+v 0.09566867 0.06980218 0.04135185
+v 0.09542699 0.06623324 0.03199746
+v 0.09247414 0.08084774 0.03074924
+v 0.09487184 0.08138860 0.05029340
+v 0.09232578 0.08138860 0.03074924
+v 0.09438129 0.08138860 0.05120164
+v 0.09340019 0.06910786 0.04382158
+v 0.09338105 0.07525946 0.04957458
+v 0.09434540 0.06745345 0.04018133
+v 0.09505130 0.06669176 0.03568628
+v 0.09350070 0.06486144 0.03461533
+v 0.09171798 0.06391072 0.03074924
+v 0.09288332 0.06466119 0.03074924
+v 0.09511112 0.06632495 0.03074924
+v 0.09511112 0.06679282 0.03074924
+v 0.07138540 0.08138860 0.03074924
+v 0.09406303 0.08138860 0.05158534
+v 0.08957632 0.06675165 0.04152427
+v 0.09251960 0.06605732 0.03967136
+v 0.09160072 0.07462689 0.04984657
+v 0.09052870 0.07024572 0.04581048
+v 0.07138540 0.07503113 0.05555828
+v 0.09072013 0.08138860 0.05391179
+v 0.08820997 0.08138860 0.05506530
+v 0.08586970 0.08068866 0.05555828
+v 0.09075124 0.06463686 0.03730848
+v 0.08939685 0.06254079 0.03074924
+v 0.07138540 0.08138860 0.05555828
+v 0.07138540 0.07101865 0.03074924
+v 0.07138540 0.07369115 0.05312497
+v 0.08519490 0.06580280 0.03894283
+v 0.08541265 0.08043975 0.05555828
+v 0.08690104 0.08138860 0.05555828
+v 0.08720973 0.06350086 0.03387465
+v 0.08796350 0.06226942 0.03074924
+v 0.07327580 0.06854266 0.03074924
+v 0.07138540 0.07034491 0.03259243
+v 0.07138540 0.07343475 0.05241586
+v 0.08611138 0.06238171 0.03074924
+v 0.07547488 0.06652894 0.03074924
+v 0.07138540 0.07030748 0.03683251
+v 0.07138540 0.07205733 0.04800580
+v 0.07688192 0.06586081 0.03074924
+v 0.07138540 0.07155390 0.04548993
+f 1 2 3
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+f 22 35 30
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+f 24 26 25
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+f 30 38 39
+f 30 39 31
+f 33 40 41
+f 34 42 43
+f 34 43 35
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+f 40 44 45
+f 40 45 41
+f 42 46 43
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+f 44 47 46
+f 44 46 48
+f 44 48 45
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_042.obj b/data/object_data/hug_release/toy_airplane/collision/part_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a686df43f34328da24b0c367d9601d166270684
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_042.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02192295 0.05531428 0.03246889
+v -0.02291391 0.05537706 0.03246889
+v -0.01898802 0.05544200 0.03246889
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+v -0.02448174 0.05841397 0.03970806
+v -0.02345443 0.05551126 0.03246889
+v -0.02692672 0.05889018 0.03936226
+v -0.01810296 0.05570174 0.03246889
+v -0.01672005 0.05847241 0.03801071
+v -0.01385149 0.07257469 0.05555828
+v -0.02318101 0.06249854 0.04513008
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+v -0.02587255 0.05626237 0.03246889
+v -0.02901137 0.06134482 0.03969902
+v -0.02790662 0.05875381 0.03693263
+v -0.02876481 0.06376266 0.04424638
+v -0.01546041 0.05754597 0.03246889
+v -0.01448052 0.05955904 0.03680606
+v -0.01385149 0.07228896 0.05493675
+v -0.01385149 0.07742769 0.05555828
+v -0.01923615 0.07295782 0.05555828
+v -0.02503174 0.06565018 0.04855869
+v -0.01388784 0.06193359 0.03657553
+v -0.02713061 0.06603115 0.04791681
+v -0.02636092 0.05654810 0.03246889
+v -0.02867947 0.05971489 0.03498440
+v -0.02999442 0.07275002 0.04949437
+v -0.02782601 0.05813474 0.03246889
+v -0.02827171 0.06782126 0.04795071
+v -0.01471126 0.05892265 0.03246889
+v -0.01385149 0.07211363 0.05434007
+v -0.02581092 0.07742769 0.05555828
+v -0.01385149 0.07742769 0.03246889
+v -0.02145513 0.07344918 0.05555828
+v -0.02182654 0.07358771 0.05555828
+v -0.01469230 0.05899841 0.03246889
+v -0.01385149 0.06897065 0.03246889
+v -0.01385149 0.07100320 0.05042780
+v -0.01385149 0.07133654 0.05165505
+v -0.02758578 0.07257902 0.05226980
+v -0.02803464 0.07742769 0.03246889
+v -0.02881697 0.07709651 0.05298174
+v -0.02888019 0.07742769 0.05299982
+v -0.02987747 0.07742769 0.05138384
+v -0.02996281 0.07742769 0.05024021
+v -0.02575876 0.07731513 0.05555828
+v -0.02767113 0.07742769 0.05404174
+v -0.02436952 0.07568087 0.05555828
+v -0.02877430 0.07742769 0.05313091
+f 1 2 6
+f 1 6 13
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+f 1 25 28
+f 1 28 41
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+f 1 37 36
+f 1 36 30
+f 1 30 17
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+f 42 47 49
+f 42 49 43
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_043.obj b/data/object_data/hug_release/toy_airplane/collision/part_043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c98a67397f4e2d2a5c8c05d7f41aaa3afea826
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_043.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02159918 0.06579500 0.01661055
+v -0.02155183 0.06579500 0.01672388
+v -0.02598597 0.07248698 0.03246889
+v -0.02617539 0.07195067 0.02743583
+v -0.02889183 0.07618084 0.02912645
+v -0.02837093 0.07726144 0.02543005
+v -0.02841829 0.07742655 0.02537727
+v -0.02697181 0.07742655 0.02237793
+v -0.02648535 0.07742655 0.02160014
+v -0.02585681 0.07742655 0.02110336
+v -0.01651499 0.07742655 0.01661055
+v -0.00025504 0.06579500 0.01661055
+v -0.01992885 0.06579500 0.01959592
+v -0.02634328 0.07296409 0.03246889
+v -0.01556789 0.06579500 0.02629477
+v -0.01357898 0.06579500 0.02906591
+v -0.01087115 0.06579500 0.03217703
+v -0.01032872 0.06579500 0.03246889
+v -0.02691154 0.07348447 0.03089004
+v -0.02893488 0.07742655 0.03196434
+v -0.02895211 0.07742655 0.03064320
+v -0.02896071 0.07742655 0.02963100
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+v -0.00777155 0.07742655 0.01661055
+v -0.00025934 0.06582119 0.01661055
+v 0.00085565 0.07205999 0.01663384
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+v 0.01185059 0.06936132 0.01812575
+v 0.01346066 0.06901289 0.02177091
+v 0.01424417 0.06755425 0.03246889
+v -0.00001396 0.06579500 0.03246889
+v -0.02679961 0.07405949 0.03246889
+v -0.02889183 0.07742655 0.03199850
+v 0.00216867 0.07742655 0.01724395
+v -0.00075872 0.06835246 0.01661055
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+v 0.01386963 0.07068446 0.01796429
+v 0.00256042 0.07742655 0.01731381
+v 0.01461870 0.06902200 0.02652298
+v 0.01499754 0.06814067 0.03246889
+v -0.02803084 0.07742655 0.03246889
+v 0.00444170 0.07742655 0.03246889
+v 0.01365438 0.07076645 0.02509783
+v 0.00269818 0.07742655 0.01742714
+v 0.00418771 0.07742655 0.01867997
+v 0.00430825 0.07742655 0.02520184
+v 0.01490283 0.06921216 0.03035289
+v 0.01501907 0.06850960 0.03246889
+v 0.01413654 0.06996482 0.03246889
+v 0.01473924 0.06931008 0.03246889
+f 1 2 3
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_044.obj b/data/object_data/hug_release/toy_airplane/collision/part_044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acca505b763d1f9892ce292de4ab82403126f8b4
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_044.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03451753 0.11335983 0.07993865
+v 0.03451753 0.10015330 0.06598684
+v 0.03451753 0.08535968 0.07993865
+v 0.03527588 0.11334612 0.07993865
+v 0.06706903 0.10382634 0.06799674
+v 0.06706903 0.10243936 0.06624244
+v 0.06706903 0.10226393 0.06602494
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+v 0.03451753 0.10003268 0.06590746
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+v 0.03649306 0.11322551 0.07993865
+v 0.06706903 0.10449517 0.06942717
+v 0.06706903 0.10185551 0.06578998
+v 0.04394587 0.09919118 0.06510255
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+v 0.06163953 0.10022731 0.06505968
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+v 0.06706903 0.09951188 0.06466437
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+v 0.06706903 0.08535968 0.06372134
+v 0.06103413 0.09902945 0.07993865
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+v 0.05806766 0.09548249 0.06372134
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+v 0.06706903 0.10097013 0.07857966
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+v 0.06281847 0.09549894 0.06372134
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_045.obj b/data/object_data/hug_release/toy_airplane/collision/part_045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238bc7b6ae8cec2e932df559467d86ec075b7fb8
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_045.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05299505 -0.09957579 0.02040502
+v 0.05744992 -0.09936676 0.02040502
+v 0.06076581 -0.09912587 0.02229480
+v 0.05299505 -0.09949616 0.02146530
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+v 0.06588964 -0.09827779 0.02446110
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+v 0.06873550 -0.09754118 0.02571265
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_046.obj b/data/object_data/hug_release/toy_airplane/collision/part_046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2777dfeeda781e5e47d09c80e74a013a5c514bfc
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_046.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.09518828 0.08138860 0.04958394
+v 0.09430152 0.09366726 0.05090279
+v 0.09413112 0.09366726 0.05258775
+v 0.09467361 0.08557724 0.05129387
+v 0.09419720 0.08258209 0.05197617
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+v 0.09231587 0.08138860 0.02401411
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_047.obj b/data/object_data/hug_release/toy_airplane/collision/part_047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039c69eaba0defc6115bd51772e363644dc211b9
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_047.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02223427 -0.08029531 0.03111469
+v 0.02223427 -0.08029531 0.03954198
+v 0.01448815 -0.08029531 0.03161450
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+v 0.01554269 -0.08029531 0.03941420
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_048.obj b/data/object_data/hug_release/toy_airplane/collision/part_048.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c28e9915b8578b74146bf797b2c74aef339a39
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_048.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03237142 0.11830059 0.08574967
+v 0.03005540 0.12302787 0.08837667
+v 0.03425833 0.11830059 0.08582124
+v 0.02788633 0.11830059 0.08625333
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+v 0.02608759 0.11830059 0.08684977
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_049.obj b/data/object_data/hug_release/toy_airplane/collision/part_049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc3c1a1a94f8993311eeed8ac3647afe73120cb
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_049.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02434090 0.09102749 0.01723899
+v -0.02508658 0.07909971 0.01987559
+v -0.02710060 0.08085693 0.02082575
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+f 32 46 45
+f 32 45 55
+f 32 55 49
+f 32 49 41
+f 33 42 34
+f 34 42 43
+f 36 38 37
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 41 49 50
+f 41 50 51
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 49 55 50
+f 50 52 56
+f 50 56 51
+f 50 55 57
+f 50 57 54
+f 50 54 52
+f 52 54 53
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_050.obj b/data/object_data/hug_release/toy_airplane/collision/part_050.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7005115d60b935ff37d6f35bdf3271f01b4e732c
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_050.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05299345 -0.07923764 0.02040502
+v 0.05299345 -0.05913481 0.02040502
+v 0.05948175 -0.07923764 0.02040502
+v 0.05299345 -0.07923764 0.04164189
+v 0.05363612 -0.05911082 0.02040502
+v 0.05299345 -0.05950468 0.02346739
+v 0.05688422 -0.05944870 0.02425795
+v 0.06667905 -0.07032282 0.02040502
+v 0.06719382 -0.07282993 0.02204438
+v 0.06710540 -0.07923764 0.02758453
+v 0.06729014 -0.07923764 0.03902888
+v 0.05299345 -0.07871982 0.04165853
+v 0.06186611 -0.05881293 0.02040502
+v 0.06175242 -0.05925877 0.02414352
+v 0.05299345 -0.06000050 0.02505890
+v 0.05340400 -0.06023042 0.02590147
+v 0.05308029 -0.06132603 0.02881405
+v 0.06469735 -0.06008647 0.02670659
+v 0.06690959 -0.07001892 0.02040502
+v 0.06782860 -0.06501871 0.02040502
+v 0.06768175 -0.07923764 0.02833140
+v 0.06797545 -0.07923764 0.03847342
+v 0.06769596 -0.07793411 0.03897688
+v 0.05299345 -0.07529504 0.04065993
+v 0.06015759 -0.07688048 0.04012734
+v 0.06449839 -0.07336973 0.03878548
+v 0.06662063 -0.05932274 0.02040502
+v 0.06657010 -0.05915081 0.02235437
+v 0.05299345 -0.06031039 0.02597845
+v 0.05299345 -0.06131003 0.02873916
+v 0.05299345 -0.06143799 0.02898673
+v 0.06075762 -0.06276751 0.03154980
+v 0.06428522 -0.06163192 0.02970447
+v 0.06566688 -0.06311139 0.03195548
+v 0.06680064 -0.06175588 0.02899089
+v 0.06782860 -0.06301743 0.02040502
+v 0.06912342 -0.06733588 0.03085494
+v 0.06850285 -0.07692446 0.03211151
+v 0.06860707 -0.07923764 0.03560036
+v 0.06860075 -0.07923764 0.03634099
+v 0.06824073 -0.07312182 0.03706706
+v 0.06680695 -0.07148841 0.03780560
+v 0.05307714 -0.06953310 0.03735415
+v 0.05299345 -0.06957509 0.03736664
+v 0.06153294 -0.06983099 0.03743945
+v 0.06777333 -0.06124406 0.02040502
+v 0.06698223 -0.06062628 0.02579121
+v 0.06780491 -0.06165191 0.02269347
+v 0.05299345 -0.06246163 0.03055952
+v 0.05299345 -0.06284549 0.03112955
+v 0.05299345 -0.06422099 0.03278348
+v 0.05389508 -0.06552853 0.03435628
+v 0.06571583 -0.06644220 0.03514059
+v 0.06688906 -0.06443092 0.03287086
+v 0.06812862 -0.06319536 0.02683974
+v 0.06693486 -0.06881536 0.03645750
+v 0.05880750 -0.06650618 0.03524877
+v 0.05299345 -0.06930518 0.03718564
+v 0.05299345 -0.06570447 0.03440205
+v 0.05299345 -0.06676209 0.03529454
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 46
+f 1 46 36
+f 1 36 20
+f 1 20 19
+f 1 19 8
+f 1 8 3
+f 1 3 10
+f 1 10 21
+f 1 21 39
+f 1 39 40
+f 1 40 22
+f 1 22 11
+f 1 11 4
+f 1 4 12
+f 1 12 24
+f 1 24 44
+f 1 44 58
+f 1 58 60
+f 1 60 59
+f 1 59 51
+f 1 51 50
+f 1 50 49
+f 1 49 31
+f 1 31 30
+f 1 30 29
+f 1 29 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
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+f 4 11 12
+f 5 7 14
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+f 24 42 45
+f 24 45 43
+f 27 28 46
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+f 28 48 46
+f 31 49 32
+f 32 49 50
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+f 34 53 54
+f 34 54 35
+f 35 54 37
+f 35 37 55
+f 35 55 47
+f 36 46 37
+f 37 54 56
+f 37 56 41
+f 37 41 40
+f 37 40 39
+f 37 39 38
+f 37 46 55
+f 41 56 42
+f 42 56 45
+f 43 57 58
+f 43 58 44
+f 43 45 53
+f 43 53 57
+f 45 56 53
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+f 51 59 52
+f 52 59 60
+f 52 60 57
+f 52 57 53
+f 53 56 54
+f 57 60 58
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_051.obj b/data/object_data/hug_release/toy_airplane/collision/part_051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3a0e8978ce15433dcd70ce3cd35d3fde16d47d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_051.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00346508 0.07742655 0.00016887
+v -0.00024646 0.07742655 0.00023807
+v 0.00001492 0.07486796 0.00056957
+v -0.02475842 0.07374180 0.00080292
+v -0.02453048 0.07686746 0.00031692
+v -0.02257621 0.07742655 0.00022680
+v 0.00066837 0.07742655 0.00095901
+v 0.00112426 0.07621386 0.00137742
+v 0.00091455 0.07076645 0.00281449
+v 0.00040699 0.06824087 0.00334875
+v -0.00248338 0.07098849 0.00182801
+v -0.00763804 0.07029845 0.00197123
+v -0.01943661 0.07299711 0.00098959
+v -0.02272209 0.06959817 0.00223676
+v -0.02638749 0.06805526 0.00298023
+v -0.02731752 0.07422233 0.00120040
+v -0.02477362 0.07742655 0.00027669
+v 0.00119417 0.07742655 0.00244435
+v 0.00141300 0.07337174 0.00438350
+v 0.00104828 0.06579500 0.00927402
+v 0.00017296 0.06584965 0.00462489
+v -0.00342861 0.06608194 0.00430465
+v -0.01952475 0.06790382 0.00295127
+v -0.02572796 0.06579500 0.00439638
+v -0.02659416 0.06579500 0.00452190
+v -0.02814117 0.06579500 0.00583183
+v -0.02839343 0.06579500 0.00606839
+v -0.02887060 0.06825909 0.00520905
+v -0.02836912 0.07196547 0.00280000
+v -0.02368251 0.06637914 0.00374946
+v -0.02395605 0.06579500 0.00417108
+v -0.02766400 0.07742655 0.00084958
+v -0.02884021 0.07587113 0.00164456
+v 0.00127319 0.07742655 0.00340990
+v 0.00077475 0.06579500 0.01228654
+v 0.00016385 0.06579500 0.00466834
+v 0.00010610 0.06579500 0.00465868
+v -0.00340429 0.06579500 0.00450259
+v -0.01127609 0.06579500 0.00428534
+v -0.01208758 0.06579500 0.00427086
+v -0.02901345 0.06579500 0.00883470
+v -0.02962739 0.07636076 0.00812340
+v -0.02948454 0.07742655 0.00609897
+v -0.02899217 0.07742655 0.00181675
+v -0.02325093 0.06579500 0.00414694
+v -0.02836912 0.07742655 0.00117787
+v 0.00119721 0.07742655 0.00380417
+v -0.00025254 0.06579500 0.01660900
+v 0.00057719 0.07742655 0.00656565
+v -0.02913806 0.06579500 0.01346935
+v -0.02933257 0.06699516 0.01216585
+v -0.02963650 0.07742655 0.00797053
+v -0.02160059 0.06579500 0.01660900
+v -0.00075706 0.06835246 0.01660900
+v -0.00080569 0.07742655 0.00913402
+v -0.02886148 0.06579500 0.01477606
+v -0.02880981 0.06714205 0.01459582
+v -0.02827490 0.07742655 0.00941081
+v -0.01651584 0.07742655 0.01660900
+v -0.02468244 0.06579500 0.01629519
+v -0.00777785 0.07742655 0.01660900
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 32
+f 1 32 46
+f 1 46 44
+f 1 44 43
+f 1 43 52
+f 1 52 58
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+f 1 61 55
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+f 1 18 7
+f 1 7 2
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+f 4 17 5
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+f 20 36 21
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+f 22 39 23
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+f 28 33 29
+f 30 45 31
+f 30 40 45
+f 32 33 46
+f 33 44 46
+f 34 47 35
+f 35 47 49
+f 35 49 48
+f 41 50 51
+f 41 51 42
+f 42 52 43
+f 42 51 52
+f 48 49 54
+f 48 54 61
+f 48 61 59
+f 48 59 53
+f 49 55 54
+f 50 52 51
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+f 53 59 60
+f 54 55 61
+f 56 60 57
+f 57 60 59
+f 57 59 58
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_052.obj b/data/object_data/hug_release/toy_airplane/collision/part_052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af42cf28637db59668a34353fad37293a881fbf2
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_052.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.06619120 0.06268897 0.01666510
+v 0.06620864 0.06280630 0.01666510
+v 0.06645573 0.06061566 0.01666510
+v 0.06713012 0.05818536 0.02164108
+v 0.06760104 0.06151688 0.02133224
+v 0.07294679 0.06977892 0.03074924
+v 0.06712431 0.06560234 0.01666510
+v 0.06700803 0.05949225 0.01666510
+v 0.06709815 0.05906910 0.01759439
+v 0.06825509 0.05783710 0.01994106
+v 0.06931029 0.05753503 0.02218845
+v 0.07106314 0.05702700 0.02479158
+v 0.07104569 0.05730286 0.02664188
+v 0.06923180 0.05826275 0.02696865
+v 0.07191485 0.06977892 0.01666510
+v 0.06873182 0.06782669 0.01666510
+v 0.06727547 0.06590566 0.01666510
+v 0.07004573 0.05820408 0.02759461
+v 0.07327818 0.06854067 0.03074924
+v 0.08117327 0.06977892 0.03074924
+v 0.06870565 0.05950474 0.01666510
+v 0.06929575 0.05952221 0.01666510
+v 0.07471709 0.05984675 0.01666510
+v 0.07773734 0.06003773 0.01666510
+v 0.08786491 0.06068556 0.01750891
+v 0.07928380 0.05920142 0.01918274
+v 0.08476327 0.05940363 0.02022509
+v 0.07471999 0.05785458 0.02188237
+v 0.08217033 0.05820907 0.02348863
+v 0.08521965 0.05838133 0.02438897
+v 0.09059157 0.05873208 0.02602833
+v 0.08035062 0.05782337 0.02586012
+v 0.07642924 0.05753753 0.02672599
+v 0.08558592 0.05858229 0.02754084
+v 0.09521351 0.06977892 0.01666510
+v 0.07687981 0.06585948 0.03074924
+v 0.07547578 0.06652853 0.03074924
+v 0.08796375 0.06226957 0.03074924
+v 0.08610916 0.06238066 0.03074924
+v 0.09457109 0.06753959 0.03074924
+v 0.09429784 0.06977892 0.01967909
+v 0.08938812 0.06118111 0.01666510
+v 0.09403622 0.06128097 0.01775295
+v 0.09218163 0.06004522 0.02065527
+v 0.08938231 0.05926008 0.02256624
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+v 0.09526293 0.06977892 0.01740688
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+v 0.09511177 0.06679065 0.03074924
+v 0.09579198 0.06521414 0.01666510
+v 0.09575710 0.06477477 0.01666510
+f 1 2 7
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+f 1 17 16
+f 1 16 15
+f 1 15 35
+f 1 35 49
+f 1 49 61
+f 1 61 62
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_053.obj b/data/object_data/hug_release/toy_airplane/collision/part_053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1858f5133085681207937cd6dbfd928ef45ca696
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_053.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.08436775 0.08933646 0.15345197
+v 0.08436775 0.08933646 0.14143800
+v 0.08329310 0.08933646 0.15340876
+v 0.07460795 0.08809876 0.15401536
+v 0.08436775 0.08801409 0.15436603
+v 0.08436775 0.08878360 0.14097599
+v 0.05889848 0.08933646 0.13861441
+v 0.08243337 0.08933646 0.15335392
+v 0.08232591 0.08929163 0.15340045
+v 0.05992429 0.08773517 0.15363146
+v 0.00720770 0.08440809 0.15380263
+v -0.01541863 0.08249303 0.15423473
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+v 0.06324594 0.08566073 0.15491778
+v 0.08436775 0.08667678 0.15492276
+v 0.08436775 0.08717485 0.14015833
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+v 0.08436775 0.08084443 0.13861441
+v 0.00532217 0.08933646 0.13861441
+v 0.08160296 0.08933646 0.15329575
+v 0.00350503 0.08624346 0.15153246
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+v -0.01541863 0.08090420 0.15505572
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+v 0.08436775 0.06389774 0.13861441
+v -0.01541863 0.07311694 0.13861441
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+v -0.01541863 0.08100132 0.14026801
+v -0.01541863 0.08183060 0.14067020
+v -0.01541863 0.08220415 0.14087794
+v -0.01541863 0.08370582 0.14215761
+v -0.01541863 0.08444794 0.14310822
+v -0.01541863 0.08499581 0.14391425
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+v -0.01541863 0.08577778 0.14658661
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+v 0.00640659 0.08933646 0.13964314
+v 0.06104779 0.08933646 0.15183161
+v 0.02606296 0.08933646 0.14863575
+v -0.01541863 0.08481401 0.15176181
+v 0.05871286 0.08933646 0.15166375
+v 0.05308559 0.08933646 0.15117349
+v -0.01541863 0.07931039 0.15546787
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_054.obj b/data/object_data/hug_release/toy_airplane/collision/part_054.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f311bee8266c2cf6d4f9f8e2af0fc8bbd7e299
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_054.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_055.obj b/data/object_data/hug_release/toy_airplane/collision/part_055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246b078516dcd30c6f7b9cd3b5fcc4054e24cc84
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_055.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_056.obj b/data/object_data/hug_release/toy_airplane/collision/part_056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf5f30af62f96c90d62144a04280300c1501809
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_056.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_057.obj b/data/object_data/hug_release/toy_airplane/collision/part_057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea7d6b2b4cb3a8fe17f0b31e8ab5ae44e7e92c6
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_057.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03007351 0.12408359 0.09704135
+v 0.03067261 0.12408359 0.09704135
+v 0.01187667 0.12408359 0.09728866
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+v 0.03453791 0.12408359 0.09742005
+v 0.01259126 0.12408359 0.11283090
+v 0.01187667 0.12412452 0.11157269
+v 0.01187667 0.12773638 0.09770137
+v 0.02436399 0.13665778 0.10382862
+v 0.02767710 0.13702742 0.10281462
+v 0.03019261 0.13421028 0.09980510
+v 0.02804522 0.13148553 0.09876174
+v 0.04874675 0.13127695 0.09899205
+v 0.04874675 0.12408359 0.09926719
+v 0.01275728 0.12711328 0.11283090
+v 0.01187667 0.12697467 0.11205186
+v 0.01187667 0.12442287 0.11162369
+v 0.04874675 0.12408359 0.11283090
+v 0.01187667 0.12868687 0.09943413
+v 0.02528791 0.13666175 0.11166234
+v 0.02939501 0.13738650 0.10947978
+v 0.02029298 0.13543271 0.10551654
+v 0.01804815 0.13547760 0.10903152
+v 0.03326030 0.13756999 0.11065143
+v 0.03632078 0.13733897 0.10380852
+v 0.03204044 0.13675680 0.10221952
+v 0.04874675 0.13218784 0.10115452
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+v 0.01390135 0.13104593 0.11283090
+v 0.01187667 0.12710272 0.11198385
+v 0.04874675 0.12868555 0.11283090
+v 0.01187667 0.12869083 0.09956860
+v 0.01588272 0.13463271 0.11283090
+v 0.01599460 0.13475152 0.11244911
+v 0.02432068 0.13640564 0.11283090
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+v 0.04081044 0.13707890 0.10853070
+v 0.02655108 0.13663138 0.11268561
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+v 0.03140164 0.13692973 0.11283090
+v 0.03949675 0.13713831 0.10595862
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+v 0.01187667 0.12886244 0.10990640
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+v 0.04864208 0.12904198 0.11283090
+v 0.01187667 0.12887168 0.10909644
+v 0.01600182 0.13468948 0.11283090
+v 0.04345588 0.13641621 0.11283090
+v 0.04647665 0.13378387 0.11283090
+v 0.04874675 0.13192381 0.10355348
+v 0.04874675 0.12990403 0.11006560
+v 0.04786975 0.13118059 0.11283090
+v 0.04712628 0.13277398 0.11283090
+f 1 2 8
+f 1 8 15
+f 1 15 24
+f 1 24 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 3 26 40
+f 3 40 57
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+f 18 29 19
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+f 20 31 34
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+f 29 42 43
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+f 29 44 33
+f 29 33 32
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+f 34 50 46
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+f 35 51 37
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+f 37 53 54
+f 37 54 55
+f 37 55 52
+f 39 56 57
+f 39 57 40
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+f 43 61 44
+f 43 60 57
+f 43 57 56
+f 44 61 45
+f 45 49 48
+f 46 62 47
+f 47 62 54
+f 47 54 53
+f 47 53 51
+f 52 55 63
+f 52 63 64
+f 58 65 59
+f 59 65 66
+f 63 67 64
+f 64 67 66
+f 64 66 65
+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_058.obj b/data/object_data/hug_release/toy_airplane/collision/part_058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af566a0fd7d35c1c228a1207977df807fa7d6c1c
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_058.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.06144192 -0.07902272 -0.00068787
+v 0.05299494 -0.07902272 -0.00065277
+v 0.06556461 -0.07762606 -0.00067342
+v 0.06587520 -0.07902272 -0.00057844
+v 0.05299494 -0.07754319 -0.00055986
+v 0.05299494 -0.07902272 0.02040502
+v 0.05784482 -0.07559878 -0.00044011
+v 0.06568108 -0.07384234 -0.00008705
+v 0.06774766 -0.07633046 -0.00017170
+v 0.06812544 -0.07902272 0.00071612
+v 0.05299494 -0.07460435 -0.00019028
+v 0.05947240 -0.07902272 0.02040502
+v 0.05299494 -0.05913600 0.02040502
+v 0.05546915 -0.07300354 0.00011117
+v 0.06156884 -0.07253462 0.00018756
+v 0.06593343 -0.06978779 0.00121371
+v 0.06816426 -0.07896208 0.00074296
+v 0.06816874 -0.07902272 0.00075329
+v 0.06785965 -0.07237090 0.00146147
+v 0.06824041 -0.07490146 0.00178357
+v 0.05299494 -0.07347853 0.00003890
+v 0.06668003 -0.07032341 0.02040502
+v 0.06756698 -0.07902272 0.01214006
+v 0.05363552 -0.05910972 0.02040502
+v 0.05299494 -0.05904302 0.01964315
+v 0.05299494 -0.07100457 0.00102789
+v 0.05708180 -0.06892069 0.00183105
+v 0.05299494 -0.06744722 0.00272713
+v 0.05372212 -0.06725117 0.00283243
+v 0.06135680 -0.06829411 0.00215108
+v 0.06399975 -0.06736839 0.00276636
+v 0.06587072 -0.06583228 0.00379251
+v 0.06786263 -0.06903792 0.00318756
+v 0.06824788 -0.07902272 0.00394943
+v 0.06792087 -0.06250738 0.01404990
+v 0.06818666 -0.06836688 0.01157433
+v 0.06690998 -0.07002023 0.02040502
+v 0.06790295 -0.07902272 0.01124398
+v 0.06186598 -0.05881462 0.02040502
+v 0.06380564 -0.05837602 0.01760117
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+v 0.05299494 -0.06573121 0.00432520
+v 0.05673687 -0.06442956 0.00514901
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+v 0.06486729 -0.05959481 0.01225568
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+v 0.06682935 -0.05937046 0.01574914
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+v 0.05299494 -0.06194952 0.00843187
+v 0.05299494 -0.06006979 0.01229697
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+v 0.05299494 -0.05991619 0.01280076
+v 0.05498088 -0.05920471 0.01521645
+v 0.05299494 -0.06205665 0.00828321
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 34
+f 1 34 38
+f 1 38 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
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+f 42 59 43
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+f 43 60 61
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+f 43 62 44
+f 44 62 45
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+f 45 57 56
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+f 47 51 48
+f 52 62 60
+f 52 60 63
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+f 52 65 66
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+f 53 67 54
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_059.obj b/data/object_data/hug_release/toy_airplane/collision/part_059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c4b36ae7154252109ad1faf03ee527656d1e298
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_059.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.05299345 -0.09964603 0.01943851
+v 0.05299345 -0.09958142 0.01867025
+v 0.06112842 -0.09908274 0.01661539
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+v 0.05744884 -0.09936540 0.02040296
+v 0.05299345 -0.09957536 0.02040296
+v 0.05299345 -0.09875164 0.01461628
+v 0.05465524 -0.09938963 0.01769755
+v 0.06764789 -0.09798042 0.01491574
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+v 0.06378793 -0.09770786 0.01262956
+v 0.06870148 -0.09780477 0.01838526
+v 0.06684972 -0.09881019 0.02040296
+v 0.06665656 -0.09884452 0.02040296
+v 0.05299345 -0.07902273 0.02040296
+v 0.06860410 -0.09639354 0.01313967
+v 0.06677150 -0.09676300 0.01083078
+v 0.06834869 -0.09476427 0.00851364
+v 0.05299345 -0.09647632 0.00911461
+v 0.05736743 -0.09627846 0.00894939
+v 0.05770745 -0.09763922 0.01160523
+v 0.06928095 -0.09577171 0.01497976
+v 0.06904789 -0.09707593 0.02040296
+v 0.05299345 -0.07902273 -0.00065376
+v 0.05947141 -0.07902273 0.02040296
+v 0.06913888 -0.09468957 0.01154534
+v 0.06622395 -0.09496616 0.00784244
+v 0.06788734 -0.09241222 0.00532704
+v 0.06873021 -0.09113222 0.00635964
+v 0.05299345 -0.09561423 0.00763800
+v 0.05331112 -0.09540830 0.00729723
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+v 0.05664269 -0.08975532 0.00227469
+v 0.06007004 -0.08784340 0.00139904
+v 0.05299345 -0.08177250 -0.00045550
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+v 0.05299345 -0.09022775 0.00243990
+v 0.05299345 -0.08535608 0.00026938
+v 0.05299345 -0.08688845 0.00090340
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 26
+f 1 26 40
+f 1 40 56
+f 1 56 64
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+f 1 32 21
+f 1 21 12
+f 1 12 8
+f 1 8 2
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+f 36 44 50
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+f 39 55 40
+f 40 55 56
+f 41 48 42
+f 42 49 43
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+f 45 59 46
+f 46 59 50
+f 50 60 61
+f 50 61 51
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+f 50 63 60
+f 51 61 55
+f 51 54 52
+f 55 64 56
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+f 55 60 65
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+f 60 67 65
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_060.obj b/data/object_data/hug_release/toy_airplane/collision/part_060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186643628ca40cb9b1803f0b41a9077e8d7b977e
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_060.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.08625287 0.13532081 0.08080213
+v 0.08572003 0.13407639 0.08167379
+v 0.08248639 0.13489049 0.08120347
+v 0.08363342 0.13686114 0.08102475
+v 0.08495941 0.13728371 0.08135711
+v 0.08814424 0.13640887 0.08289349
+v 0.08815645 0.13442012 0.08198107
+v 0.08799781 0.13291598 0.08434834
+v 0.05032492 0.12408359 0.09926061
+v 0.04875081 0.12408359 0.09926688
+v 0.07728410 0.13448474 0.08321958
+v 0.07662111 0.13616722 0.08389684
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+v 0.08652946 0.13702913 0.08355821
+v 0.08985665 0.13522131 0.08769702
+v 0.09023899 0.13445372 0.08522000
+v 0.08989732 0.13225823 0.08666859
+v 0.05276540 0.12408359 0.10113249
+v 0.08515465 0.13040001 0.09102061
+v 0.04875081 0.12833503 0.09893453
+v 0.05366838 0.12933133 0.09562034
+v 0.06292187 0.13178140 0.09017717
+v 0.07071921 0.13355046 0.08609166
+v 0.04875081 0.12408359 0.11282777
+v 0.06497188 0.13455323 0.08941525
+v 0.07049956 0.13546295 0.08693824
+v 0.07178895 0.13621374 0.08802938
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_061.obj b/data/object_data/hug_release/toy_airplane/collision/part_061.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e48c30d2033184e0cea87c9fe547b62729bdb01
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_061.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_062.obj b/data/object_data/hug_release/toy_airplane/collision/part_062.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028d7878645aa745c23190e3b2084b99b82396a5
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_062.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02003983 -0.10175318 0.02031384
+v 0.02003983 -0.10105374 0.01504407
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_063.obj b/data/object_data/hug_release/toy_airplane/collision/part_063.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ddd59b44c48660230466586dd602af60cf2c95
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_063.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05037454 -0.07137556 0.10489537
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_064.obj b/data/object_data/hug_release/toy_airplane/collision/part_064.obj
new file mode 100644
index 0000000000000000000000000000000000000000..890565e3524da2a82df78a446a82538d210d4faf
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_064.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_065.obj b/data/object_data/hug_release/toy_airplane/collision/part_065.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da25266a610939907ce2a1c1dac4360709f129aa
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_065.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_066.obj b/data/object_data/hug_release/toy_airplane/collision/part_066.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7a18acbd334b9b2be1eb147f5281aa012bb8ff
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_066.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.06706903 0.00559400 0.06158046
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_067.obj b/data/object_data/hug_release/toy_airplane/collision/part_067.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae1f12f1db5f8d180a3e794c839e60a2eab9f30
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_067.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_068.obj b/data/object_data/hug_release/toy_airplane/collision/part_068.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f585315d6701e5e70a813e07772bf19088a65fdb
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_068.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v 0.03429075 -0.07137558 0.10532007
+v 0.03733891 -0.07140746 0.10599442
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_069.obj b/data/object_data/hug_release/toy_airplane/collision/part_069.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cbb95a05a5fbd92d69087126344d911ef7ba236
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_069.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.01256506 0.12364577 0.11283091
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_070.obj b/data/object_data/hug_release/toy_airplane/collision/part_070.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b74362c330b0e4f68262553485fa9dbe57f36487
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_070.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.06184518 0.09960777 0.03458655
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_071.obj b/data/object_data/hug_release/toy_airplane/collision/part_071.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd55d7cce62be6be05189f542deb14726e5d86a7
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_071.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00081134 0.11019310 0.11283091
+v 0.00089300 0.11019310 0.11360475
+v 0.00464930 0.11669881 0.11283091
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_072.obj b/data/object_data/hug_release/toy_airplane/collision/part_072.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72694a21f19715d88c4d396bfe6fc9d5c17666c7
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_072.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.03414875 -0.09984845 0.01684627
+v 0.03414875 -0.09983190 0.01668014
+v 0.04722003 -0.09910005 0.04980795
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+v 0.03414875 -0.09480833 0.03237746
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_073.obj b/data/object_data/hug_release/toy_airplane/collision/part_073.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d233ebad4d159ac6cd61d0034ad8d94f831585b9
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_073.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_074.obj b/data/object_data/hug_release/toy_airplane/collision/part_074.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481ffdef90df50f7c92818d5c18bd9dae218f03d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_074.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_075.obj b/data/object_data/hug_release/toy_airplane/collision/part_075.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb72304dfd1acb4342408b8ab456b8a657262b3
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_075.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/toy_airplane/collision/part_076.obj b/data/object_data/hug_release/toy_airplane/collision/part_076.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3a0be24a6ef891bd23eb202bcb52ada54dae95
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_076.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.02325318 0.06579499 0.00414905
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_077.obj b/data/object_data/hug_release/toy_airplane/collision/part_077.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6867bf0a30368063e7555471880a0acb69d53ca
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_077.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_078.obj b/data/object_data/hug_release/toy_airplane/collision/part_078.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d35651a26b69435fe2e64fdb7753f93b5abad60
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_078.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_079.obj b/data/object_data/hug_release/toy_airplane/collision/part_079.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2014b43d21c6efe919e842b3ab8d1ebcfab34f3
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_079.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_080.obj b/data/object_data/hug_release/toy_airplane/collision/part_080.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7439f818c5b0ca70fbb668b160a0f535d1ace23a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_080.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_081.obj b/data/object_data/hug_release/toy_airplane/collision/part_081.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aafac06604db2f50b1cd5e100763677708d09fc
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_081.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_082.obj b/data/object_data/hug_release/toy_airplane/collision/part_082.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6233d98cc6ec3ee1eb810fc989f85b1ae17ea8bf
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_082.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_083.obj b/data/object_data/hug_release/toy_airplane/collision/part_083.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2acd0c384e92ec93f6a4d55c1b225374d095c3
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_083.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_084.obj b/data/object_data/hug_release/toy_airplane/collision/part_084.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f8d00ec89871e7c1ef3f0a8b13999a3590611a
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_084.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_085.obj b/data/object_data/hug_release/toy_airplane/collision/part_085.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f2484d5f8420bf40197a8452276b8496522291
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_085.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_086.obj b/data/object_data/hug_release/toy_airplane/collision/part_086.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e65d22440c50dfae01ea1049d2ce15b81fc3ee4
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_086.obj
@@ -0,0 +1,424 @@
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_087.obj b/data/object_data/hug_release/toy_airplane/collision/part_087.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef4ec368d47a3b849f33375d99f0ed7c348f1d4
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_087.obj
@@ -0,0 +1,469 @@
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_088.obj b/data/object_data/hug_release/toy_airplane/collision/part_088.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db80a6978f1ba63023044a0a33b5d804cda3b053
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_088.obj
@@ -0,0 +1,484 @@
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_089.obj b/data/object_data/hug_release/toy_airplane/collision/part_089.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88294d6641a04facb044050c0fc30b093a7dfb9d
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_089.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_090.obj b/data/object_data/hug_release/toy_airplane/collision/part_090.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88a46243cf07f64938ee84c9087fb1197add51c
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_090.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_091.obj b/data/object_data/hug_release/toy_airplane/collision/part_091.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e88cc48877870497439b9a2b95e004dcec99922
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_091.obj
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_092.obj b/data/object_data/hug_release/toy_airplane/collision/part_092.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b64b46e9c73fd82c34b05d6018b1d4797f06a9e
--- /dev/null
+++ b/data/object_data/hug_release/toy_airplane/collision/part_092.obj
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diff --git a/data/object_data/hug_release/toy_airplane/collision/part_093.obj b/data/object_data/hug_release/toy_airplane/collision/part_093.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc91f11910e368fa97761c0214554e661354c78b
--- /dev/null
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--- /dev/null
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diff --git a/data/object_data/hug_release/toy_airplane/textured.mtl b/data/object_data/hug_release/toy_airplane/textured.mtl
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index 0000000000000000000000000000000000000000..cd584d49c4df107e359a80dfdf7ea1111cc970ed
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diff --git a/data/object_data/hug_release/toy_airplane/textured.obj b/data/object_data/hug_release/toy_airplane/textured.obj
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index 0000000000000000000000000000000000000000..f9df7dfc4d634a9c98d97374a43b6cadc3dd2c9b
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diff --git a/data/object_data/hug_release/toy_airplane/toy_airplane.stl b/data/object_data/hug_release/toy_airplane/toy_airplane.stl
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index 0000000000000000000000000000000000000000..f2504599a84d4f1acb398e5eb1563c6a87ebbffb
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/object_data/hug_release/turmeric/collision/part_000.obj b/data/object_data/hug_release/turmeric/collision/part_000.obj
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index 0000000000000000000000000000000000000000..b02e767f78eb551b815ca816990e27a6b3a8f15e
--- /dev/null
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diff --git a/data/object_data/hug_release/turmeric/texture_map.png b/data/object_data/hug_release/turmeric/texture_map.png
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index 0000000000000000000000000000000000000000..87bcf284e71a723b5e1ccc50e5628897cbc466f9
--- /dev/null
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diff --git a/data/object_data/hug_release/turmeric/textured.mtl b/data/object_data/hug_release/turmeric/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
+++ b/data/object_data/hug_release/turmeric/textured.mtl
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diff --git a/data/object_data/hug_release/turmeric/textured.obj b/data/object_data/hug_release/turmeric/textured.obj
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index 0000000000000000000000000000000000000000..2e6bda0059e05ba783a538fc4d4beb4bb1e2c62a
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diff --git a/data/object_data/hug_release/turmeric/turmeric.stl b/data/object_data/hug_release/turmeric/turmeric.stl
new file mode 100644
index 0000000000000000000000000000000000000000..82070f8a7ee606cd86ff2a11a62eed6c12d20a97
--- /dev/null
+++ b/data/object_data/hug_release/turmeric/turmeric.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b941480e6c4da2955880d72394bd2198fe743dfdd9ab00ff85971a214b92ad3b
+size 286084
diff --git a/data/object_data/hug_release/whisk/collision/part_000.obj b/data/object_data/hug_release/whisk/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c76ed32598262a589c9355e0231ed982954b5f19
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_000.obj
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diff --git a/data/object_data/hug_release/whisk/collision/part_001.obj b/data/object_data/hug_release/whisk/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2486412a26a8f3c0a677e0d95f01227949bc77cf
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_001.obj
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+
diff --git a/data/object_data/hug_release/whisk/collision/part_002.obj b/data/object_data/hug_release/whisk/collision/part_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92985e65602c7c64f189ea73babb745aac1514f2
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_002.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03941644 0.11390921 0.00004895
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diff --git a/data/object_data/hug_release/whisk/collision/part_003.obj b/data/object_data/hug_release/whisk/collision/part_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a358462fd17d765f2a4d34278dc665f7e66da1d8
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_003.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00000634 0.11462319 0.03952570
+v -0.00103929 0.11462319 0.03952570
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+
diff --git a/data/object_data/hug_release/whisk/collision/part_004.obj b/data/object_data/hug_release/whisk/collision/part_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b22fc79c2e4ac73eead2999cb41cf27994d5a60
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_004.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00000634 0.11393119 0.03950315
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+
diff --git a/data/object_data/hug_release/whisk/collision/part_005.obj b/data/object_data/hug_release/whisk/collision/part_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef09694924d87639b79fb489df65324eb3cabdf8
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_005.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/data/object_data/hug_release/whisk/collision/part_006.obj b/data/object_data/hug_release/whisk/collision/part_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f731a5a3c12a29ccada2c9c0e56ee1cabc98c2d5
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_006.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00000634 0.07845413 -0.02565455
+v -0.00000634 0.07845413 -0.02835923
+v -0.00000634 0.08394531 -0.02658960
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+
diff --git a/data/object_data/hug_release/whisk/collision/part_007.obj b/data/object_data/hug_release/whisk/collision/part_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0fecbf258f1d023fbd8a9eec22605d4ab969c7
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_007.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00102857 0.07845413 0.02835911
+v 0.01507747 0.07697239 0.02692912
+v 0.01541052 0.07845413 0.02716514
+v -0.00052286 0.07845413 0.02835911
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+
diff --git a/data/object_data/hug_release/whisk/collision/part_008.obj b/data/object_data/hug_release/whisk/collision/part_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461a5e34eb05bfff388b0765cada2d941632be7c
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_008.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00052564 0.07845413 0.02835911
+v -0.00052564 0.07845413 0.02565463
+v -0.00102806 0.07845413 0.02835911
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+v -0.00052564 0.03483027 0.01607235
+v -0.00052564 0.05518608 0.01753010
+v -0.01482865 0.04784996 -0.00000178
+v -0.02741595 0.07591339 -0.00000178
+v -0.02741595 0.07591339 0.00083122
+v -0.02704447 0.07367156 0.00041195
+v -0.01796078 0.04120988 0.00018704
+v -0.01580410 0.03483027 0.00744525
+v -0.00052564 0.03483027 0.01337899
+v -0.00052564 0.04360116 0.01455629
+v -0.01461218 0.04614617 -0.00000178
+v -0.02704447 0.07367156 -0.00000178
+v -0.01796078 0.04120988 -0.00000178
+v -0.01580143 0.03483027 -0.00000178
+v -0.01320914 0.03483027 -0.00000178
+v -0.01448925 0.04515550 -0.00000178
+f 1 2 7
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+f 1 15 27
+f 1 27 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 21
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+f 1 32 40
+f 1 40 41
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+f 1 24 13
+f 1 13 8
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+f 5 35 26
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+f 11 21 22
+f 11 22 12
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+f 11 23 19
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+f 16 18 17
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+f 18 29 23
+f 19 30 31
+f 19 23 29
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+f 20 32 21
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+f 26 35 36
+f 26 36 27
+f 27 36 29
+f 27 29 28
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+f 29 37 30
+f 30 38 39
+f 30 39 31
+f 30 37 38
+f 33 41 34
+f 34 41 42
+f 35 43 37
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+f 37 43 44
+f 37 44 38
+f 38 44 39
+f 39 44 45
+f 40 46 47
+f 40 47 42
+f 40 42 41
+
diff --git a/data/object_data/hug_release/whisk/collision/part_009.obj b/data/object_data/hug_release/whisk/collision/part_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8404d88e741284b66777ea078aad561e1624c0
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_009.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02782751 0.07845413 -0.00000455
+v 0.02470091 0.07845413 -0.00000455
+v 0.02741675 0.07591339 -0.00000455
+v 0.02782751 0.07845413 -0.00104921
+v 0.01281065 0.07845413 -0.02334352
+v 0.02391871 0.07787339 -0.00000455
+v 0.02704531 0.07367156 -0.00000455
+v 0.02741675 0.07591339 -0.00083230
+v 0.02746044 0.07845413 -0.01580155
+v 0.02682463 0.07432917 -0.01492892
+v 0.02707153 0.07591339 -0.01527299
+v 0.01299200 0.07845413 -0.02506882
+v 0.01181871 0.07774529 -0.02404162
+v 0.01181871 0.07774529 -0.02366265
+v 0.02371115 0.07771539 -0.00000455
+v 0.02704531 0.07367156 -0.00041344
+v 0.01796047 0.04120988 -0.00000455
+v 0.01562481 0.07845413 -0.02547521
+v 0.01493656 0.07129308 -0.02387706
+v 0.01516598 0.07293709 -0.02420617
+v 0.02397989 0.06804350 -0.01501120
+v 0.01793207 0.04136360 -0.00908483
+v 0.01562700 0.03483027 -0.00964082
+v 0.00924707 0.03483027 -0.01519071
+v 0.01333503 0.07845413 -0.02535554
+v 0.01166358 0.07591339 -0.02424107
+v 0.00555677 0.04019358 -0.01508101
+v 0.00575996 0.04191872 -0.01499624
+v 0.01783375 0.05965266 -0.00000455
+v 0.02073749 0.06877797 -0.00000455
+v 0.00575996 0.04191872 -0.01476437
+v 0.00868118 0.05745780 -0.01748197
+v 0.01796047 0.04120988 -0.00018656
+v 0.01580397 0.03483027 -0.00000455
+v 0.01580616 0.03483027 -0.00744430
+v 0.01339839 0.07591339 -0.02525083
+v 0.01212896 0.06822285 -0.02388454
+v 0.01577994 0.03483027 -0.00791552
+v 0.00883413 0.03483027 -0.01522312
+v 0.00894993 0.04462173 -0.01787092
+v 0.01153904 0.07293709 -0.02426601
+v 0.00550870 0.03721729 -0.01505608
+v 0.00555677 0.04019358 -0.01457239
+v 0.01483169 0.04784996 -0.00000455
+v 0.01321049 0.03483027 -0.00000455
+v 0.01181652 0.06822285 -0.02388454
+v 0.01164610 0.06996080 -0.02406156
+v 0.00744453 0.03483027 -0.01528296
+v 0.00891715 0.04462173 -0.01787092
+v 0.00567475 0.03483027 -0.01497630
+v 0.00561795 0.03483027 -0.01350530
+v 0.00550870 0.03721729 -0.01424578
+v 0.00609425 0.03483027 -0.01216644
+v 0.01461320 0.04614617 -0.00000455
+f 1 2 6
+f 1 6 15
+f 1 15 30
+f 1 30 29
+f 1 29 44
+f 1 44 54
+f 1 54 45
+f 1 45 34
+f 1 34 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 25
+f 1 25 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 16
+f 3 16 8
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 17 33
+f 7 33 16
+f 8 16 10
+f 9 11 19
+f 9 19 20
+f 9 20 18
+f 10 21 19
+f 10 19 11
+f 10 16 22
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 31
+f 13 31 14
+f 14 29 30
+f 14 30 15
+f 14 31 32
+f 14 32 29
+f 16 33 22
+f 17 34 35
+f 17 35 33
+f 18 36 25
+f 18 20 19
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+f 18 37 36
+f 19 21 24
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+f 22 33 35
+f 22 35 38
+f 22 38 23
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+f 23 35 34
+f 23 34 45
+f 23 45 53
+f 23 53 51
+f 23 51 50
+f 23 50 48
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+f 23 39 24
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+f 24 40 37
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+f 25 41 26
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+f 27 42 52
+f 27 52 43
+f 27 43 31
+f 27 31 28
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+f 29 32 31
+f 29 31 44
+f 31 43 44
+f 36 37 46
+f 36 46 47
+f 36 47 41
+f 37 40 49
+f 37 49 46
+f 39 48 40
+f 40 48 49
+f 41 47 50
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 43 52 51
+f 43 51 53
+f 43 53 44
+f 44 53 54
+f 45 54 53
+f 46 49 50
+f 46 50 47
+f 48 50 49
+
diff --git a/data/object_data/hug_release/whisk/collision/part_010.obj b/data/object_data/hug_release/whisk/collision/part_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06487b47b12993835f9b5305b26a757b55766e4
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_010.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.02782751 0.07845413 -0.00104824
+v -0.02762410 0.07719871 -0.00000455
+v -0.02782751 0.07845413 -0.00000455
+v -0.02517469 0.07845413 -0.01542399
+v -0.02741497 0.07591339 -0.00083173
+v -0.02741497 0.07591339 -0.00000455
+v -0.02469913 0.07845413 -0.00000455
+v -0.01540856 0.07845413 -0.02716552
+v -0.02400585 0.07394058 -0.01503260
+v -0.01500749 0.03516762 -0.00906469
+v -0.02396288 0.07087888 -0.01240672
+v -0.02704255 0.07367156 -0.00041259
+v -0.02716573 0.07440603 -0.00000455
+v 0.00106695 0.07845413 -0.02565550
+v -0.02371078 0.07771539 -0.00000455
+v -0.00102723 0.07845413 -0.02836188
+v -0.01507911 0.07697239 -0.02692958
+v -0.00946122 0.03483027 -0.01541289
+v -0.01490722 0.03483027 -0.00873992
+v -0.01580104 0.03483027 -0.00107045
+v -0.01796111 0.04120988 -0.00018498
+v -0.02704255 0.07367156 -0.00000455
+v 0.00143937 0.07293709 -0.02530575
+v 0.00102398 0.07845413 -0.02836188
+v 0.00033356 0.07502520 -0.02361808
+v 0.00074895 0.07293709 -0.02327111
+v 0.00106981 0.06996080 -0.02278535
+v -0.02073711 0.06877797 -0.00000455
+v -0.00027665 0.07098137 -0.02694901
+v -0.00007611 0.03851969 -0.01789998
+v -0.00111317 0.03483027 -0.01607074
+v -0.01580104 0.03483027 -0.00000455
+v -0.01796111 0.04120988 -0.00000455
+v 0.00143651 0.04316988 -0.01637330
+v 0.00135629 0.04019358 -0.01637330
+v 0.00110992 0.03483027 -0.01607074
+v 0.00104976 0.07591339 -0.02776509
+v 0.00106981 0.06102764 -0.01982359
+v 0.00143364 0.06400821 -0.02232734
+v 0.00068593 0.07293709 -0.02727378
+v 0.00027340 0.07098137 -0.02694901
+v 0.00074609 0.06400821 -0.02029825
+v -0.01783219 0.05965266 -0.00000455
+v 0.00007572 0.03851969 -0.01789998
+v -0.01320839 0.03483027 -0.00000455
+v 0.00141073 0.05507933 -0.01934894
+v 0.00112424 0.04912674 -0.01677024
+v 0.00113857 0.03721729 -0.01384180
+v 0.00098960 0.03483027 -0.01338102
+v 0.00054555 0.05507933 -0.01751692
+v 0.00094376 0.05210303 -0.01713942
+v -0.01482987 0.04784996 -0.00000455
+v -0.01461215 0.04614617 -0.00000455
+v 0.00096955 0.04019358 -0.01415268
+v 0.00060285 0.04316988 -0.01449966
+f 1 2 3
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+f 1 7 14
+f 1 14 24
+f 1 24 16
+f 1 16 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
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+f 2 6 13
+f 2 13 22
+f 2 22 33
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+f 2 28 15
+f 2 15 7
+f 2 7 3
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+f 42 43 50
+f 43 52 51
+f 43 51 50
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+f 49 52 53
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+f 51 55 54
+f 52 54 55
+
diff --git a/data/object_data/hug_release/whisk/collision/part_011.obj b/data/object_data/hug_release/whisk/collision/part_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbfdee89081b5804020925661cea2cff50845af
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_011.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01940706 0.11226245 0.03400445
+v 0.01977292 0.11226245 0.03381169
+v 0.02095630 0.11400857 0.03295094
+v 0.01963064 0.11485140 0.03353253
+v 0.01887409 0.11759817 0.03328660
+v 0.01723000 0.11759817 0.03328660
+v 0.01713063 0.11462306 0.03357241
+v 0.01720064 0.11226245 0.03365882
+v 0.02103760 0.11226245 0.03312043
+v 0.03299112 0.11759817 0.02097348
+v 0.03279690 0.11921332 0.02087046
+v 0.01824852 0.11965321 0.03296423
+v 0.01752584 0.11965321 0.03296423
+v 0.01645990 0.12355510 0.03055810
+v 0.01645990 0.12068409 0.03131251
+v 0.01720064 0.11226245 0.03218324
+v 0.01645990 0.12017033 0.03122610
+v 0.03321018 0.11226245 0.02107983
+v 0.03321470 0.11462306 0.02108315
+v 0.03416999 0.11462306 0.01934835
+v 0.03386285 0.11759817 0.01934835
+v 0.03329600 0.12035501 0.01940817
+v 0.03308146 0.12294396 0.01845436
+v 0.03004396 0.12837705 0.01809211
+v 0.01792106 0.12512324 0.02983361
+v 0.01645990 0.12521390 0.02987681
+v 0.01645990 0.12363904 0.03052487
+v 0.01722322 0.11226245 0.03168473
+v 0.01645990 0.12028450 0.02894294
+v 0.03340892 0.11226245 0.02072091
+v 0.03952908 0.11759817 0.00103986
+v 0.03940939 0.12057663 0.00095013
+v 0.03416321 0.11226245 0.01934835
+v 0.03910903 0.12355510 0.00064105
+v 0.03886513 0.12543553 0.00029210
+v 0.03594958 0.13131858 0.00033863
+v 0.03326664 0.13457239 0.00061447
+v 0.03038271 0.13755086 0.00062111
+v 0.02752136 0.13190286 0.01581560
+v 0.02469615 0.13455896 0.01532706
+v 0.01645990 0.12661751 0.02825500
+v 0.01816496 0.14001892 0.01200036
+v 0.03540983 0.11226245 0.00005282
+v 0.01645990 0.14340369 0.00005282
+v 0.01660895 0.14309140 0.00005282
+v 0.01692964 0.14242318 0.00005282
+v 0.03945456 0.11462306 0.00099998
+v 0.03952908 0.11759817 0.00005282
+v 0.03947037 0.11907565 0.00005282
+v 0.03940939 0.12057663 0.00005282
+v 0.03932131 0.11226245 0.00088366
+v 0.03910903 0.12355510 0.00005282
+v 0.03895546 0.12474379 0.00005282
+v 0.03886513 0.12543553 0.00005282
+v 0.03594958 0.13131858 0.00005282
+v 0.03326664 0.13457239 0.00005282
+v 0.03038271 0.13755086 0.00005282
+v 0.02732714 0.14034463 0.00051809
+v 0.02406381 0.14307462 0.00027548
+v 0.02170156 0.13773219 0.01271489
+v 0.01759585 0.14001892 0.01200036
+v 0.01645990 0.14100614 0.01054804
+v 0.01846984 0.14621090 0.00050147
+v 0.01645990 0.14656684 0.00086704
+v 0.03932131 0.11226245 0.00005282
+v 0.01645990 0.14656684 0.00005282
+v 0.03945456 0.11462306 0.00005282
+v 0.03935971 0.11293068 0.00005282
+v 0.02732714 0.14034463 0.00005282
+v 0.02406381 0.14307462 0.00005282
+v 0.01846984 0.14621090 0.00005282
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 16
+f 1 16 28
+f 1 28 43
+f 1 43 65
+f 1 65 51
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+f 1 30 18
+f 1 18 9
+f 1 9 2
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+f 28 29 44
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+f 28 46 43
+f 31 33 47
+f 31 47 67
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+f 31 49 32
+f 32 50 52
+f 32 52 34
+f 32 49 50
+f 33 51 47
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+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 38
+f 38 57 69
+f 38 69 58
+f 38 58 39
+f 39 58 40
+f 40 58 59
+f 40 59 60
+f 40 60 42
+f 41 42 61
+f 41 61 62
+f 42 60 63
+f 42 63 64
+f 42 64 62
+f 42 62 61
+f 43 46 45
+f 43 45 44
+f 43 44 66
+f 43 66 71
+f 43 71 70
+f 43 70 69
+f 43 69 57
+f 43 57 56
+f 43 56 55
+f 43 55 54
+f 43 54 53
+f 43 53 52
+f 43 52 50
+f 43 50 49
+f 43 49 48
+f 43 48 67
+f 43 67 68
+f 43 68 65
+f 47 51 68
+f 47 68 67
+f 51 65 68
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 59 71 63
+f 59 63 60
+f 63 71 66
+f 63 66 64
+
diff --git a/data/object_data/hug_release/whisk/collision/part_012.obj b/data/object_data/hug_release/whisk/collision/part_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0580c40cfdaca41f9231ed3a043012ba5e017853
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_012.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02470325 0.07845743 0.00005282
+v 0.02668855 0.08663814 0.00005282
+v 0.02782781 0.07845743 0.00005282
+v 0.02250308 0.07845743 0.01338311
+v 0.01645988 0.08369614 0.02575384
+v 0.01645988 0.08825311 0.02651949
+v 0.01722311 0.11226245 0.03168176
+v 0.03540867 0.11226245 0.00005282
+v 0.03001903 0.08261729 0.00005282
+v 0.02782781 0.07845743 0.00104916
+v 0.02278509 0.07845743 0.01523872
+v 0.01645988 0.08356045 0.02666326
+v 0.01645988 0.09462692 0.02901370
+v 0.01720073 0.11226245 0.03218328
+v 0.03932332 0.11226245 0.00005282
+v 0.03584512 0.09793296 0.00005282
+v 0.03001903 0.08261729 0.00041057
+v 0.02684747 0.08022463 0.01496122
+v 0.02517551 0.07845743 0.01542596
+v 0.02295520 0.07845743 0.01551289
+v 0.01645988 0.08441426 0.02828817
+v 0.01645988 0.09567268 0.03045806
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diff --git a/data/object_data/hug_release/whisk/collision/part_013.obj b/data/object_data/hug_release/whisk/collision/part_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dfc4c7989fbda38aaaeefb0eedc2f2a1a13a2dd
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_013.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/whisk/collision/part_014.obj b/data/object_data/hug_release/whisk/collision/part_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6915aa8f99f3f6d4dab0475ef00a8b5e891cbb
--- /dev/null
+++ b/data/object_data/hug_release/whisk/collision/part_014.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/object_data/hug_release/whisk/texture_map.png b/data/object_data/hug_release/whisk/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8cc0b50e9a90989dff741beecbf7d114ccb8dc4
--- /dev/null
+++ b/data/object_data/hug_release/whisk/texture_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b29989465c43fa689d4352f71de3761a2b61c7ff1665efd00b73b9793140d7
+size 3599
diff --git a/data/object_data/hug_release/whisk/textured.mtl b/data/object_data/hug_release/whisk/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb6b1738f10e34bb3f82249b88c8a31f651ae3c
--- /dev/null
+++ b/data/object_data/hug_release/whisk/textured.mtl
@@ -0,0 +1,2 @@
+newmtl material_0
+map_Kd texture_map.png
diff --git a/data/object_data/hug_release/whisk/textured.obj b/data/object_data/hug_release/whisk/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e60ccf40e84347d757bd3d18fead2bd572a536
--- /dev/null
+++ b/data/object_data/hug_release/whisk/textured.obj
@@ -0,0 +1,15695 @@
+# Generated by scripts/tools/convert_ood_objects.py
+mtllib textured.mtl
+usemtl material_0
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diff --git a/data/object_data/hug_release/whisk/whisk.stl b/data/object_data/hug_release/whisk/whisk.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a7ff83ed7cd697b00ca7714a364ac94d1e97ae8d
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diff --git a/data/object_data/hug_release/wood_block/collision/part_000.obj b/data/object_data/hug_release/wood_block/collision/part_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3324bb18abc4a592601295e381cc8ab0a89320
--- /dev/null
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diff --git a/data/object_data/hug_release/wood_block/collision/part_001.obj b/data/object_data/hug_release/wood_block/collision/part_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74594cd496819a4e6d972d0fedb740ccec7d7a5a
--- /dev/null
+++ b/data/object_data/hug_release/wood_block/collision/part_001.obj
@@ -0,0 +1,1186 @@
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diff --git a/data/object_data/hug_release/wood_block/texture_map.png b/data/object_data/hug_release/wood_block/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac575b582ab0af78e5b5e57bf03095d2b36090b3
--- /dev/null
+++ b/data/object_data/hug_release/wood_block/texture_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2932e6f70ef82d874f861245dc133c43ba3b71bac0b36b4df1d3061d3c42a7
+size 252942
diff --git a/data/object_data/hug_release/wood_block/textured.mtl b/data/object_data/hug_release/wood_block/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd584d49c4df107e359a80dfdf7ea1111cc970ed
--- /dev/null
+++ b/data/object_data/hug_release/wood_block/textured.mtl
@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
+
diff --git a/data/object_data/hug_release/wood_block/textured.obj b/data/object_data/hug_release/wood_block/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b117a6b9b621d0f871d96123bce8d551f5a3c5
--- /dev/null
+++ b/data/object_data/hug_release/wood_block/textured.obj
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diff --git a/data/object_data/hug_release/wood_block/wood_block.stl b/data/object_data/hug_release/wood_block/wood_block.stl
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3df2a7e474aba924e5516ac93e75ab7424884ac864d8c3cce62136db965d4ae5
+size 819284
diff --git a/policies/hug/GR00T-WholeBodyControl-Balance.onnx b/policies/hug/GR00T-WholeBodyControl-Balance.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..425a9053ce5ae68ccd5751aeb73890aef11a7da7
--- /dev/null
+++ b/policies/hug/GR00T-WholeBodyControl-Balance.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f645da599d4ca3d29ed273c8f4712620bb680d34977469ca3aeabe5bb9631c18
+size 1886682
diff --git a/policies/hug/GR00T-WholeBodyControl-Walk.onnx b/policies/hug/GR00T-WholeBodyControl-Walk.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..d66452c137e48f4da729559e59b8f36b7056a4c9
--- /dev/null
+++ b/policies/hug/GR00T-WholeBodyControl-Walk.onnx
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7c82255b6905ffcc4468fa7f8ddcf7b70db168cf1042107ccab887cb6a8e5407
+size 1886682
diff --git a/policies/hug/LICENSE b/policies/hug/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..84e56882701ef356fe5318ebb5be90418770c396
--- /dev/null
+++ b/policies/hug/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 the HuG authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/policies/hug/LICENSE-NVIDIA-OPEN-MODEL.txt b/policies/hug/LICENSE-NVIDIA-OPEN-MODEL.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0fd2c70949deb2f1d9094e98185b75ab10c60fa4
--- /dev/null
+++ b/policies/hug/LICENSE-NVIDIA-OPEN-MODEL.txt
@@ -0,0 +1,62 @@
+NVIDIA Open Model License Agreement
+
+Last Modified: October 24, 2025
+
+This NVIDIA Open Model License Agreement (the “Agreement”) is a legal agreement between the Legal Entity You represent, or if no entity is identified, You and NVIDIA Corporation and its Affiliates (“NVIDIA”) and governs Your use of the Models that NVIDIA provides to You under this Agreement. NVIDIA and You are each a “party” and collectively the “parties.”
+
+NVIDIA models released under this Agreement are intended to be used permissively and enable the further development of AI technologies. Subject to the terms of this Agreement, NVIDIA confirms that:
+
+Models are commercially usable.
+You are free to create and distribute Derivative Models.
+NVIDIA does not claim ownership to any outputs generated using the Models or Derivative Models.
+By using, reproducing, modifying, distributing, performing or displaying any portion or element of the Model or Derivative Model, or otherwise accepting the terms of this Agreement, you agree to be bound by this Agreement.
+
+Definitions. The following definitions apply to this Agreement:
+
+"Derivative Model" means all (a) modifications to the Model, (b) works based on the Model, and (c) any other derivative works of the Model. An output is not a Derivative Model.
+
+"Legal Entity" means the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (a) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (b) ownership of fifty percent (50%) or more of the outstanding shares, or (c) beneficial ownership of such entity.
+
+“Model” means the machine learning model, software, checkpoints, learnt weights, algorithms, parameters, configuration files and documentation shared under this Agreement.
+
+"NVIDIA Cosmos Model" means a multimodal Model shared under this Agreement
+
+"Special-Purpose Model" means a Model that is only competent in a narrow set of purpose-specific tasks and should not be used for unintended or general-purpose applications
+
+“You” or “Your” means an individual or Legal Entity exercising permissions granted by this Agreement.
+
+Conditions for Use, License Grant, AI Ethics and IP Ownership.
+
+Conditions for Use. The Model and any Derivative Model are subject to additional terms as described in Section 2 and Section 3 of this Agreement and govern Your use. If You institute copyright or patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Model or a Derivative Model constitutes direct or contributory copyright or patent infringement, then any licenses granted to You under this Agreement for that Model or Derivative Model will terminate as of the date such litigation is filed. If You bypass, disable, reduce the efficacy of, or circumvent any technical limitation, safety guardrail or associated safety guardrail hyperparameter, encryption, security, digital rights management, or authentication mechanism (collectively “Guardrail”) contained in the Model without a substantially similar Guardrail appropriate for your use case, your rights under this Agreement will automatically terminate. NVIDIA may indicate in relevant documentation that a Model is a Special-Purpose Model. NVIDIA may update this Agreement to comply with legal and regulatory requirements at any time and You agree to either comply with any updated license or cease Your copying, use, and distribution of the Model and any Derivative Model.
+
+License Grant. The rights granted herein are explicitly conditioned on Your full compliance with the terms of this Agreement. Subject to the terms and conditions of this Agreement, NVIDIA hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, revocable (as stated in Section 2.1) license to publicly perform, publicly display, reproduce, use, create derivative works of, make, have made, sell, offer for sale, distribute (through multiple tiers of distribution) and import the Model.
+
+AI Ethics. Use of the Models under the Agreement must be consistent with NVIDIA’s Trustworthy AI terms found at https://www.nvidia.com/en-us/agreements/trustworthy-ai/terms/.
+
+NVIDIA owns the Model and any Derivative Models created by NVIDIA. Subject to NVIDIA’s underlying ownership rights in the Model or its Derivative Models, You are and will be the owner of Your Derivative Models. NVIDIA claims no ownership rights in outputs. You are responsible for outputs and their subsequent uses. Except as expressly granted in this Agreement, (a) NVIDIA reserves all rights, interests and remedies in connection with the Model and (b) no other license or right is granted to you by implication, estoppel or otherwise.
+
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+If you distribute or make available a NVIDIA Cosmos Model, or a product or service (including an AI model) that contains or uses a NVIDIA Cosmos Model, use a NVIDIA Cosmos Model to create a Derivative Model, or use a NVIDIA Cosmos Model or its outputs to create, train, fine tune, or otherwise improve an AI model, you will include “Built on NVIDIA Cosmos” on a related website, user interface, blogpost, about page, or product documentation; and
+
+You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Models as a whole, provided Your use, reproduction, and distribution of the Model otherwise complies with the conditions stated in this Agreement.
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+
+Trademarks. This Agreement does not grant permission to use the trade names, trademarks, service marks, or product names of NVIDIA, except as required for reasonable and customary use in describing the origin of the Model and reproducing the content of the “Notice” text file.
+
+Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, NVIDIA provides the Model on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for reviewing Model documentation, including any Special-Purpose Model limitations, and determining the appropriateness of using or redistributing the Model, Derivative Models and outputs. You assume any risks associated with Your exercise of permissions under this Agreement.
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+Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, will NVIDIA be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this Agreement or out of the use or inability to use the Model, Derivative Models or outputs (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if NVIDIA has been advised of the possibility of such damages.
+
+Indemnity. You will indemnify and hold harmless NVIDIA from and against any claim by any third party arising out of or related to your use or distribution of the Model, Derivative Models or outputs.
+
+Feedback. NVIDIA appreciates your feedback, and You agree that NVIDIA may use it without restriction or compensation to You.
+
+Governing Law. This Agreement will be governed in all respects by the laws of the United States and the laws of the State of Delaware, without regard to conflict of laws principles or the United Nations Convention on Contracts for the International Sale of Goods. The state and federal courts residing in Santa Clara County, California will have exclusive jurisdiction over any dispute or claim arising out of or related to this Agreement, and the parties irrevocably consent to personal jurisdiction and venue in those courts; except that, either party may apply for injunctive remedies or an equivalent type of urgent legal relief in any jurisdiction.
+
+Trade and Compliance. You agree to comply with all applicable export, import, trade and economic sanctions laws and regulations, as amended, including without limitation U.S. Export Administration Regulations and Office of Foreign Assets Control regulations. These laws include restrictions on destinations, end-users and end-use.
+
+Version Release Date: October 24, 2025
\ No newline at end of file
diff --git a/policies/hug/NOTICE.md b/policies/hug/NOTICE.md
new file mode 100644
index 0000000000000000000000000000000000000000..edfc826a7febaabef2f23fe5979e8a26b24220aa
--- /dev/null
+++ b/policies/hug/NOTICE.md
@@ -0,0 +1,14 @@
+# hug: notices
+
+`hug-grasp.onnx` is by the HuG authors, under the MIT License: [LICENSE](LICENSE).
+
+`GR00T-WholeBodyControl-Balance.onnx` and `GR00T-WholeBodyControl-Walk.onnx`:
+
+Licensed by NVIDIA Corporation under the NVIDIA Open Model License
+
+Source: https://github.com/NVlabs/GR00T-WholeBodyControl/tree/1fa5f7fa3966cbd4845c4e641d13c3f0cd5b0d9b/decoupled_wbc/sim2mujoco/resources/robots/g1/policy
+
+- `GR00T-WholeBodyControl-Balance.onnx` (sha256 `f645da599d4ca3d29ed273c8f4712620bb680d34977469ca3aeabe5bb9631c18`)
+  and `GR00T-WholeBodyControl-Walk.onnx` (sha256 `7c82255b6905ffcc4468fa7f8ddcf7b70db168cf1042107ccab887cb6a8e5407`):
+  unmodified copies of the files at that commit.
+- [LICENSE-NVIDIA-OPEN-MODEL.txt](LICENSE-NVIDIA-OPEN-MODEL.txt): copied from https://raw.githubusercontent.com/NVlabs/GR00T-WholeBodyControl/1fa5f7fa3966cbd4845c4e641d13c3f0cd5b0d9b/decoupled_wbc/sim2mujoco/resources/robots/g1/policy/NVIDIA%20Open%20Model%20License
diff --git a/policies/hug/README.md b/policies/hug/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..5503a5dffa3bacdeb08311f58e75475ee18e3934
--- /dev/null
+++ b/policies/hug/README.md
@@ -0,0 +1,14 @@
+# HuG policies
+
+The policies [HuG](https://xuanbinpeng.com/hug) runs on the Unitree G1 with a right Inspire hand.
+
+| File | Role | License |
+| --- | --- | --- |
+| `hug-grasp.onnx` | grasp policy | MIT, [LICENSE](LICENSE) |
+| `GR00T-WholeBodyControl-Balance.onnx` | lower-body standing balance | NVIDIA Open Model License, [NOTICE.md](NOTICE.md) |
+| `GR00T-WholeBodyControl-Walk.onnx` | lower-body walking | NVIDIA Open Model License, [NOTICE.md](NOTICE.md) |
+
+The grasp policy is a conditional VAE that maps a 1024-point object cloud to a 3-stage trajectory of hand poses and
+finger targets, trained in simulation only. The GR00T files are the balance and walking policies of Decoupled WBC in
+NVIDIA's [GR00T-WholeBodyControl](https://github.com/NVlabs/GR00T-WholeBodyControl), unmodified; HuG runs them for
+the lower body while its IK drives the upper body.
diff --git a/policies/hug/hug-grasp.onnx b/policies/hug/hug-grasp.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..75ba31b664733cd15f3fed7c19e5da81125b3be8
--- /dev/null
+++ b/policies/hug/hug-grasp.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d8f4587d7ff28f8eebb5ec13a187f5945f84a622213ff031a10469808dc8ce
+size 4435616