Add asset kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a

.gitattributes

@@ -4851,3 +4851,5 @@ dataset/kitchen_supplies/ware/cfc9858335ed52a5a0144291141b7a76/baby_bottle_010.u
 dataset/kitchen_supplies/ware/cfc9858335ed52a5a0144291141b7a76/mesh/baby_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/cfc9858335ed52a5a0144291141b7a76/mesh/baby_bottle_010.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/cfc9858335ed52a5a0144291141b7a76/mjcf/mesh/baby_bottle_010.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/coffee_cup_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mesh/coffee_cup_020.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/coffee_cup_020.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_020">
+   <link name="coffee_cup_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_020.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e60c357f11f95d18aaa1c911131c1c7a</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>floral mug</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup with blue floral pattern and curved handle</description>
+         <min_height>0.0585</min_height>
+         <max_height>0.0585</max_height>
+         <real_height>0.0585</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202112</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029693 -0.026481 -0.030420</min>
+            <max>0.039552 0.026485 0.028098</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/coffee_cup_020.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2aa198bda381d04bdac8f31086a93566e819e8d7089be44f1ac36bbb0821712
+size 4882363

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mesh/coffee_cup_020.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f372cfd2452eaef400e257391574269995f5b8b574abada2ae6be7a8df58f5da
+size 13190776

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mesh/coffee_cup_020.mtl

@@ -0,0 +1,6 @@
+newmtl coffee_cup_020_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_020_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_020_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/coffee_cup_020.xml

@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_020">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_020_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_020_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_020_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_020_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_020_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_020_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_020_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_020_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_020_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_020_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_020_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_020_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_020_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_020_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_020_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_020_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_020_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_020_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_020_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_020_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_020_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_020_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_020_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_020_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_020_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_020_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_020_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_020_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_020">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_0.obj

@@ -0,0 +1,799 @@
+# https://github.com/mikedh/trimesh
+v -0.00056093 0.02040847 -0.02524328
+v -0.00052716 0.02040341 -0.02524328
+v -0.00056093 0.02040004 -0.02531982
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+v 0.01429103 0.00318393 -0.02524334
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+v 0.00088198 0.02013865 -0.02561860
+v 0.00088198 0.01997340 -0.02675715
+v 0.00088198 0.01969009 -0.02789517
+v -0.00056093 0.00318395 -0.02883562
+v 0.01759265 0.00318393 -0.02524334
+v 0.00088198 0.02018081 -0.02524328
+v -0.00056093 0.01989751 -0.02789517
+v -0.00026062 0.01949954 -0.02865000
+v 0.00151636 0.01935619 -0.02848331
+v 0.00088198 0.01941353 -0.02855093
+v 0.00202280 0.01994135 -0.02524328
+v 0.00202280 0.01989750 -0.02561860
+v 0.00194639 0.01946918 -0.02787839
+v 0.00202280 0.01972382 -0.02675715
+v 0.00276379 0.01939329 -0.02748787
+v -0.00056093 0.01535951 -0.03049778
+v 0.01343631 0.00318395 -0.03058904
+v 0.01755534 0.00318393 -0.02561866
+v 0.01748070 0.00365611 -0.02561866
+v 0.01754112 0.00350097 -0.02524334
+v -0.00056093 0.01962601 -0.02845133
+v -0.00026062 0.01847423 -0.02993007
+v -0.00056093 0.01905940 -0.02923604
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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_12.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_13.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_14.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_15.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_16.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_17.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_18.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_19.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_20.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_21.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_22.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_23.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_24.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_25.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_26.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_27.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_28.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_29.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_3.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_30.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_31.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_32.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_33.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_34.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_35.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_37.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_38.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_39.obj

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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/mjcf/mesh/coffee_cup_020_collision_40.obj

@@ -0,0 +1,232 @@
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