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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/coffee_cup_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/coffee_cup_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f38590f67ed45387a09f367475f3ea7b68e3e66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/coffee_cup_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3098820e94c47385941aca9a8ff8f9c83d562557a9f4cee385b3969a8d61b306
+size 11418131
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/material.mtl b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1aff4ddfe4c98ec6b33770c3e6ad41b88256780
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/material_0.png b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f38590f67ed45387a09f367475f3ea7b68e3e66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3098820e94c47385941aca9a8ff8f9c83d562557a9f4cee385b3969a8d61b306
+size 11418131
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/coffee_cup_006.xml b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/coffee_cup_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a663d99fc83b137b99aafc9ef99f1c21504bd55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/coffee_cup_006.xml
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78de2224aeefecdf006b66b0c3ccbe8bddd9649
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0f3334f45d8d102d626bed60d7bc5b2afecddf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision.obj
@@ -0,0 +1,41956 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_0.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfe963a96414b38e951aad302f212966377b2ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_1.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443dd6f92fcd45782b22ece566b202980ff4dd03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_10.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea2bbf41f402dd9ab5b5da66dbc1727f89792c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_10.obj
@@ -0,0 +1,736 @@
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_11.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ac1dc5ae691311eb04bbb2009dd3fc0f329c8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_11.obj
@@ -0,0 +1,1015 @@
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_12.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474f6055e082ad3058f99b8f69b0bf5fa0860d13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_13.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b828a93f6dff8f0f88de343f5e93f39b0d26983d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_14.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a6d7fe2218f0c9d51532c7c692d959af21a15f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_15.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a9da97717e2c294f8aedbbbfb4d56b2c9a26d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_16.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9d9183e0248e48835ba38053efc0d413d4ba0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_17.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f62b0c29054b53526dc6651b04afbda394886fa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_18.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce7ff8e19002bf5cc9c56d4d902bfb5b1e58077
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_19.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7675cdd4f10890c64aa09c089cac5894a2f3f63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_2.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374167872dbe64202d20ac9024201a52459467fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_20.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfd2ed73fc800523f2ce5a364a4406a513d99314
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_21.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243330768879e82a5d9f0c9c87df3b9cea41cad0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_22.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d38546bcd6356ef8a24e10fb077ed74047d53e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_23.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a554ff70a895d9c19c74fe98156ed4247c257fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_24.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15751eba87a1e62dc4fb65f1a50fcefc56fd61b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_24.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_25.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3802fe699dc7db91ea63598a75f5ca09965238
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_25.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_26.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9242d6acfcb691339e0696db20333dfee440fbd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_27.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1589e4974c952f54881ff53b3dcd1d733e9b4fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_27.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_28.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b4236f95322708470a35c64655988a6baab4ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_28.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_29.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0136a4afde8c99a7a4f9b31f5fe13e04aca3139d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_3.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9822ac6a1f203daf68797722eade6d264ef5385f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_30.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c43ad08d7d2011e5111406a1ac7bdc5a4b43fbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_30.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_31.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19a79875d8267eb891f8389fb1c2ed5d8dd574a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_32.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009dc8a0bfe78c2dc0fa4013563a24b80995993c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02016788 0.03206563 -0.00977513
+v 0.02016788 0.03206563 -0.00989661
+v 0.01994256 0.03206562 -0.00902255
+v 0.01921377 0.03008097 -0.01032387
+v 0.01951264 0.03008097 -0.01136883
+v 0.01963968 0.03043940 -0.01134927
+v 0.01944979 0.03008098 -0.01265881
+v 0.01995660 0.03175752 -0.01134926
+v 0.01993320 0.03206563 -0.01134926
+v 0.01983224 0.03206562 -0.00870546
+v 0.01907336 0.03008097 -0.01009943
+v 0.01949927 0.03043941 -0.01265881
+v 0.01915293 0.03008098 -0.01362965
+v 0.01915627 0.03043941 -0.01359155
+v 0.01937624 0.03176375 -0.01272778
+v 0.01934281 0.03206564 -0.01262586
+v 0.01944110 0.03206562 -0.00815673
+v 0.01604991 0.03008095 -0.00558501
+v 0.01871833 0.03008098 -0.01428442
+v 0.01909075 0.03132839 -0.01343094
+v 0.01888014 0.03206564 -0.01324665
+v 0.01916429 0.03206562 -0.00787464
+v 0.01578247 0.03022315 -0.00558501
+v 0.01333803 0.03008095 -0.00558501
+v 0.01806376 0.03008099 -0.01506170
+v 0.01799289 0.03043941 -0.01493816
+v 0.01869359 0.03206564 -0.01339285
+v 0.01834792 0.03206562 -0.00764300
+v 0.01333803 0.03139771 -0.00558500
+v 0.01368704 0.03124851 -0.00558501
+v 0.01388428 0.03116342 -0.00558501
+v 0.01402536 0.03109698 -0.00558501
+v 0.01447667 0.03088270 -0.00558501
+v 0.01532647 0.03045511 -0.00558501
+v 0.01333803 0.03008099 -0.01543233
+v 0.01729352 0.03008099 -0.01565059
+v 0.01776155 0.03116287 -0.01467563
+v 0.01815737 0.03206564 -0.01370067
+v 0.01817074 0.03206562 -0.00769345
+v 0.01729286 0.03206562 -0.00794774
+v 0.01697460 0.03206562 -0.00819585
+v 0.01626253 0.03206562 -0.00878062
+v 0.01561665 0.03206563 -0.00976380
+v 0.01551235 0.03206563 -0.01010354
+v 0.01517470 0.03206563 -0.01131322
+v 0.01516467 0.03206563 -0.01134926
+v 0.01532380 0.03206564 -0.01265880
+v 0.01333803 0.03059463 -0.01291619
+v 0.01333803 0.03015267 -0.01527893
+v 0.01597436 0.03206564 -0.01370376
+v 0.01337347 0.03008099 -0.01544468
+v 0.01680811 0.03008099 -0.01590899
+v 0.01703210 0.03124621 -0.01476829
+v 0.01703210 0.03206564 -0.01399408
+v 0.01541206 0.03206564 -0.01281632
+v 0.01333803 0.03047107 -0.01398071
+v 0.01582726 0.03206564 -0.01351948
+v 0.01682550 0.03206564 -0.01394570
+v 0.01440179 0.03008099 -0.01580192
+v 0.01571093 0.03008099 -0.01610151
+f 1 2 9
+f 1 9 16
+f 1 16 21
+f 1 21 27
+f 1 27 38
+f 1 38 54
+f 1 54 58
+f 1 58 50
+f 1 50 57
+f 1 57 55
+f 1 55 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 28
+f 1 28 22
+f 1 22 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 7
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 11 18
+f 4 18 24
+f 4 24 35
+f 4 35 51
+f 4 51 59
+f 4 59 60
+f 4 60 52
+f 4 52 36
+f 4 36 25
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+f 4 19 13
+f 4 13 7
+f 4 7 5
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+f 5 7 6
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+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 13 19 14
+f 14 19 20
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+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 18 23 34
+f 18 34 33
+f 18 33 32
+f 18 32 31
+f 18 31 30
+f 18 30 29
+f 18 29 24
+f 19 25 20
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 24 29 48
+f 24 48 56
+f 24 56 49
+f 24 49 35
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 35 49 50
+f 35 50 51
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 47 55 49
+f 47 49 56
+f 47 56 48
+f 49 55 57
+f 49 57 50
+f 50 58 59
+f 50 59 51
+f 52 60 54
+f 52 54 53
+f 54 60 59
+f 54 59 58
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_33.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d152fa3ed9c2c1d49595c00ae5d874c0fd4bbb7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_33.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01436329 -0.01314365 -0.03021879
+v -0.01605389 -0.01314364 -0.03190882
+v -0.01437189 -0.01314365 -0.03021818
+v -0.01132451 -0.01393286 -0.02975603
+v -0.01612983 -0.01314364 -0.03196608
+v -0.01811987 -0.01314365 -0.03021818
+v -0.00348328 -0.01772468 -0.02975605
+v -0.01811987 -0.01393286 -0.02975603
+v -0.01708115 -0.01314364 -0.03251105
+v -0.01811987 -0.01314364 -0.03279585
+v -0.01243056 -0.01772467 -0.03240947
+v -0.01717427 -0.01314364 -0.03254708
+v -0.01811987 -0.01772468 -0.02975605
+v -0.01811987 -0.01343645 -0.03285836
+v -0.01383892 -0.01772467 -0.03279279
+v -0.01811987 -0.01772467 -0.03258312
+v -0.01811987 -0.01475480 -0.03290115
+v -0.01515415 -0.01772467 -0.03288424
+v -0.01811987 -0.01739105 -0.03266716
+v -0.01778604 -0.01772467 -0.03266656
+v -0.01811987 -0.01607225 -0.03283928
+v -0.01717427 -0.01701931 -0.03283835
+v -0.01646938 -0.01772467 -0.03283344
+v -0.01811987 -0.01701931 -0.03271581
+v -0.01717427 -0.01772467 -0.03274569
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 8
+f 3 8 4
+f 4 7 5
+f 4 8 13
+f 4 13 7
+f 5 7 9
+f 6 10 14
+f 6 14 17
+f 6 17 21
+f 6 21 24
+f 6 24 19
+f 6 19 16
+f 6 16 13
+f 6 13 8
+f 7 11 12
+f 7 12 9
+f 7 13 16
+f 7 16 20
+f 7 20 25
+f 7 25 23
+f 7 23 18
+f 7 18 15
+f 7 15 11
+f 10 12 15
+f 10 15 14
+f 11 15 12
+f 14 15 18
+f 14 18 17
+f 16 19 20
+f 17 18 22
+f 17 22 21
+f 18 23 22
+f 19 24 22
+f 19 22 20
+f 20 22 25
+f 21 22 24
+f 22 23 25
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_34.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf6c0c8c7c93785cd5517cddc6a9cbe42ee2587
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_34.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01811987 -0.01314278 -0.03279605
+v -0.01811987 -0.01314279 -0.03021803
+v -0.01811987 -0.01211788 -0.03267340
+v -0.01717478 -0.01314278 -0.03254723
+v -0.01437409 -0.01314279 -0.03021803
+v -0.01811987 -0.00441188 -0.03021800
+v -0.01811987 -0.01081089 -0.03233399
+v -0.01717478 -0.01306414 -0.03253033
+v -0.01708215 -0.01314278 -0.03251115
+v -0.01436453 -0.01314279 -0.03021854
+v -0.01436674 -0.01313937 -0.03021803
+v -0.01605509 -0.01314278 -0.03190929
+v -0.01613119 -0.01314278 -0.03196632
+v -0.01811987 -0.00968598 -0.03198145
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 11 10
+f 7 9 8
+f 7 14 9
+f 9 14 13
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_35.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7113d4b738ef741a270fbfe2b339908126dbf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_35.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00977380 0.01369067 -0.03019941
+v 0.00979469 0.01367350 -0.03019888
+v 0.00977380 0.01431215 -0.03019888
+v 0.00977380 0.01519460 -0.03173565
+v 0.01510957 0.00688698 -0.03019890
+v 0.00977380 0.02442412 -0.03019884
+v 0.00977380 0.01548989 -0.03198727
+v 0.00977380 0.01593626 -0.03224632
+v 0.01510957 0.00972830 -0.03184173
+v 0.01510957 0.02143689 -0.03019885
+v 0.00992111 0.02436060 -0.03019884
+v 0.00977380 0.02439322 -0.03023145
+v 0.00977380 0.01661955 -0.03260744
+v 0.01510957 0.01009913 -0.03203316
+v 0.01510957 0.02123602 -0.03037331
+v 0.01482382 0.02165492 -0.03019885
+v 0.01045448 0.02411681 -0.03019884
+v 0.00977380 0.02436919 -0.03025478
+v 0.00977380 0.01725476 -0.03278324
+v 0.01510957 0.01117557 -0.03243247
+v 0.01510957 0.02088922 -0.03064906
+v 0.01392425 0.02198798 -0.03044596
+v 0.01479143 0.02167896 -0.03019885
+v 0.01481023 0.02166522 -0.03019885
+v 0.01073658 0.02398634 -0.03019884
+v 0.01143607 0.02335112 -0.03049315
+v 0.01045448 0.02358289 -0.03069943
+v 0.00977380 0.02426446 -0.03035236
+v 0.00977380 0.01793805 -0.03289008
+v 0.01510957 0.01259193 -0.03280074
+v 0.01510957 0.02008405 -0.03124512
+v 0.01462217 0.02022140 -0.03142356
+v 0.01427321 0.02112099 -0.03093489
+v 0.01308528 0.02224207 -0.03065888
+v 0.01231317 0.02312622 -0.03028608
+v 0.01262661 0.02303523 -0.03019885
+v 0.01337051 0.02259058 -0.03019885
+v 0.01406895 0.02215623 -0.03019885
+v 0.01475486 0.02170471 -0.03019885
+v 0.01374507 0.02055274 -0.03165396
+v 0.01308528 0.02141801 -0.03131378
+v 0.01160376 0.02356400 -0.03019884
+v 0.01224161 0.02324983 -0.03019884
+v 0.01179182 0.02254079 -0.03101390
+v 0.01045448 0.02281377 -0.03135435
+v 0.00977380 0.02370650 -0.03084473
+v 0.00977380 0.02297172 -0.03148321
+v 0.00977380 0.01857327 -0.03290731
+v 0.01510957 0.01391043 -0.03290150
+v 0.01510957 0.01946944 -0.03167731
+v 0.01214757 0.02170643 -0.03153465
+v 0.01308528 0.02075876 -0.03178442
+v 0.01510957 0.01938532 -0.03173087
+v 0.01427060 0.01982482 -0.03183798
+v 0.01127047 0.02195537 -0.03171389
+v 0.00977380 0.02276570 -0.03163620
+v 0.00977380 0.01925656 -0.03288239
+v 0.01045448 0.01857327 -0.03290228
+v 0.01177040 0.01725476 -0.03290626
+v 0.01510957 0.01522894 -0.03287285
+v 0.01308528 0.01989177 -0.03222112
+v 0.01173331 0.02124461 -0.03197134
+v 0.01510957 0.01905569 -0.03188438
+v 0.01440120 0.01857327 -0.03235952
+v 0.01045448 0.02215452 -0.03184593
+v 0.00977380 0.02236054 -0.03190426
+v 0.00977380 0.01989177 -0.03281372
+v 0.01177040 0.01857327 -0.03282989
+v 0.01308528 0.01725476 -0.03285960
+v 0.01440120 0.01593798 -0.03287153
+v 0.01510957 0.01593798 -0.03279808
+v 0.01177040 0.01989177 -0.03255785
+v 0.01045448 0.02121028 -0.03234122
+v 0.01510957 0.01855782 -0.03211029
+v 0.01510957 0.01786423 -0.03239240
+v 0.01308528 0.01857327 -0.03266736
+v 0.00977380 0.02188155 -0.03215588
+v 0.01045448 0.01989177 -0.03275936
+v 0.00977380 0.02057506 -0.03267238
+v 0.01440120 0.01725476 -0.03271828
+v 0.01510957 0.01654572 -0.03272729
+v 0.00977380 0.02121028 -0.03247061
+v 0.01510957 0.01725476 -0.03255786
+f 1 2 3
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+f 2 6 3
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+f 5 15 10
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+f 21 33 22
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+f 22 40 41
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+f 52 62 55
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+f 54 64 61
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+f 55 65 56
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+f 58 70 59
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+f 68 76 80
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+f 75 83 76
+f 76 83 80
+f 80 83 81
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_36.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387b59da2d5265da3f2f2102af5a7a6fc044f14b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_36.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.01718260 0.03834891 0.00568193
+v 0.01742598 0.03949044 0.00568194
+v 0.01744663 0.03725590 0.00568193
+v 0.01453888 0.03512737 0.00979381
+v 0.01393084 0.03512737 0.01053954
+v 0.01786288 0.04014862 0.00568194
+v 0.01373475 0.03512737 0.01102613
+v 0.01368487 0.03512737 0.01115028
+v 0.01368487 0.03517813 0.01129276
+v 0.01744835 0.03725138 0.00568193
+v 0.01590116 0.03512738 0.00867064
+v 0.01791534 0.03659433 0.00568192
+v 0.01368487 0.03517813 0.01175936
+v 0.01368487 0.03517530 0.01221762
+v 0.01732794 0.03942613 0.00829988
+v 0.01793856 0.04014522 0.00699008
+v 0.01852080 0.04059868 0.00568194
+v 0.01368487 0.03512736 0.01231011
+v 0.01856982 0.03610591 0.00568192
+v 0.01857498 0.03610309 0.00568192
+v 0.01702865 0.03512738 0.00808156
+v 0.01632687 0.03773753 0.01164688
+v 0.01738384 0.03928343 0.00960968
+v 0.01834019 0.04012774 0.00840820
+v 0.01859562 0.04052986 0.00699008
+v 0.01966205 0.04088914 0.00568194
+v 0.01385516 0.03512736 0.01251425
+v 0.01966377 0.03578162 0.00568192
+v 0.01782418 0.03512738 0.00768746
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+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_37.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c7c4725cf2df7e0f50e36ba87aca392b59f790
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01811920 -0.01393249 -0.03048699
+v -0.01811920 -0.01393249 -0.02948699
+v -0.01811920 -0.00185253 -0.03048699
+v -0.01811920 -0.00185253 -0.02948699
+v -0.01132556 -0.01393249 -0.03048699
+v -0.01132556 -0.01393249 -0.02948699
+v -0.01132556 -0.00185253 -0.03048699
+v -0.01132556 -0.00185253 -0.02948699
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_38.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f995e5db46c4ee29207d6bb94cce9d1f187fbf44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_38.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_39.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e0fb06aa3af08b1821ae58c2438f1925e26c1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_39.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02153748 0.03512737 0.00970502
+v 0.02151596 0.03512737 0.00960370
+v 0.02144447 0.03512737 0.01094396
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_4.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9ce922df3d9531599ef1e19e5d9bfcbad3ec64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_4.obj
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+f 147 153 152
+f 148 170 167
+f 148 167 166
+f 148 150 164
+f 148 164 163
+f 148 163 171
+f 148 171 170
+f 149 151 172
+f 149 172 165
+f 149 165 150
+f 153 173 174
+f 153 174 154
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+f 154 174 176
+f 154 176 155
+f 156 177 157
+f 157 177 160
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+f 174 178 176
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_40.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289614b8b64ade38c2c497eec5720ed72d95a5ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_40.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01966425 0.04095199 0.00436975
+v 0.02097928 0.04066856 0.00436975
+v 0.01966425 0.04093176 0.00306000
+v 0.01852088 0.04062149 0.00436975
+v 0.01852192 0.04059922 0.00568194
+v 0.01966425 0.04088974 0.00567950
+v 0.02105679 0.04055873 0.00555135
+v 0.02163784 0.04032692 0.00502901
+v 0.02164980 0.04033805 0.00436975
+v 0.02165344 0.04034160 0.00334894
+v 0.02110777 0.04059518 0.00297180
+v 0.01966425 0.04083559 0.00175024
+v 0.01862700 0.04055874 0.00175024
+v 0.01855729 0.04060682 0.00306000
+v 0.02090229 0.04060328 0.00175024
+v 0.01786284 0.04011586 0.00436975
+v 0.01786388 0.04014977 0.00567950
+v 0.01966217 0.04088873 0.00568194
+v 0.01786284 0.04014876 0.00568194
+v 0.02102558 0.04055518 0.00568194
+v 0.02123938 0.04044687 0.00568194
+v 0.02195672 0.03973120 0.00568194
+v 0.02195672 0.03975752 0.00555135
+v 0.02207844 0.03966692 0.00436975
+v 0.02157022 0.04027479 0.00568194
+v 0.02198481 0.03979650 0.00297180
+v 0.02163212 0.04032237 0.00247626
+v 0.02075352 0.04053091 0.00070459
+v 0.02050383 0.04057747 0.00070459
+v 0.01966425 0.04069743 0.00070459
+v 0.01872375 0.04049245 0.00070459
+v 0.01819836 0.04005919 0.00070459
+v 0.01796896 0.04000250 0.00175024
+v 0.01789925 0.04006273 0.00306000
+v 0.02156033 0.04026822 0.00175024
+v 0.01753772 0.03928785 0.00070458
+v 0.01742536 0.03949079 0.00568194
+v 0.02247066 0.03834692 0.00568193
+v 0.02247118 0.03834946 0.00567949
+v 0.02249615 0.03834946 0.00436974
+v 0.02247586 0.03834947 0.00305999
+v 0.02202226 0.03960923 0.00175024
+v 0.02196712 0.03950498 0.00070459
+v 0.02187400 0.03963758 0.00070459
+v 0.02088617 0.04046309 0.00070459
+v 0.01806571 0.03994683 0.00070459
+v 0.02141156 0.04016396 0.00070459
+v 0.01741028 0.03854940 0.00070458
+v 0.01718192 0.03834946 0.00568193
+v 0.02203578 0.03691204 0.00568193
+v 0.02206699 0.03706287 0.00436974
+v 0.02241968 0.03834947 0.00175023
+v 0.02203474 0.03709021 0.00175023
+v 0.02196192 0.03695811 0.00070458
+v 0.02234373 0.03834948 0.00070458
+v 0.01738531 0.03834948 0.00070458
+v 0.01750443 0.03757560 0.00070458
+v 0.01753824 0.03739997 0.00070458
+v 0.01744669 0.03725621 0.00568193
+v 0.02199885 0.03683966 0.00568193
+v 0.02167945 0.03632998 0.00568192
+v 0.02166177 0.03650462 0.00070457
+v 0.01802150 0.03674048 0.00070457
+v 0.01791486 0.03659469 0.00568192
+v 0.01744877 0.03725165 0.00568193
+v 0.02108956 0.03603693 0.00568192
+v 0.02149219 0.03634772 0.00070457
+v 0.02159258 0.03640238 0.00078350
+v 0.01867953 0.03616197 0.00070457
+v 0.01857082 0.03610577 0.00568192
+v 0.01990978 0.03590485 0.00070457
+v 0.02103702 0.03613109 0.00070457
+v 0.01966425 0.03578184 0.00568192
+v 0.01966425 0.03587701 0.00070457
+v 0.01857550 0.03610324 0.00568192
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 11 15
+f 3 15 12
+f 4 14 16
+f 4 16 17
+f 4 17 5
+f 5 18 6
+f 5 17 19
+f 5 19 37
+f 5 37 49
+f 5 49 59
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+f 5 60 50
+f 5 50 38
+f 5 38 22
+f 5 22 25
+f 5 25 21
+f 5 21 20
+f 5 20 18
+f 6 18 20
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 8 21 25
+f 8 25 22
+f 9 24 10
+f 10 24 26
+f 10 26 27
+f 10 27 11
+f 11 27 15
+f 12 15 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
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+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 14
+f 14 34 16
+f 15 27 35
+f 15 35 28
+f 16 34 36
+f 16 36 37
+f 16 37 19
+f 16 19 17
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 26
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 35
+f 28 35 45
+f 28 45 47
+f 28 47 44
+f 28 44 43
+f 28 43 55
+f 28 55 54
+f 28 54 62
+f 28 62 67
+f 28 67 72
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+f 28 71 74
+f 28 74 69
+f 28 69 63
+f 28 63 58
+f 28 58 57
+f 28 57 56
+f 28 56 48
+f 28 48 36
+f 28 36 46
+f 28 46 32
+f 28 32 31
+f 28 31 30
+f 28 30 29
+f 32 46 33
+f 33 46 36
+f 33 36 34
+f 35 47 45
+f 35 44 47
+f 36 48 49
+f 36 49 37
+f 38 50 40
+f 38 40 39
+f 40 50 51
+f 40 51 41
+f 41 52 42
+f 41 51 53
+f 41 53 54
+f 41 54 52
+f 42 52 55
+f 42 55 43
+f 48 56 49
+f 49 56 57
+f 49 57 58
+f 49 58 59
+f 50 53 51
+f 50 60 54
+f 50 54 53
+f 52 54 55
+f 54 60 61
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+f 58 64 65
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+f 63 69 64
+f 64 69 70
+f 66 71 72
+f 66 72 67
+f 66 73 71
+f 69 74 73
+f 69 73 75
+f 69 75 70
+f 71 73 74
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_41.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a684fb5edf10b782b25385c59de93d7e4bfaced5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_41.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02035239 0.02734120 -0.00558574
+v 0.01945002 0.03008098 -0.01266003
+v 0.01951251 0.03008097 -0.01137061
+v 0.01921378 0.03008097 -0.01032470
+v 0.02008113 0.02753804 -0.00558574
+v 0.01333736 0.02734120 -0.00558574
+v 0.01934289 0.02734123 -0.01398450
+v 0.01915335 0.03008098 -0.01363060
+v 0.01898098 0.02734124 -0.01519683
+v 0.01907300 0.03008097 -0.01010046
+v 0.01859709 0.02857323 -0.00558574
+v 0.01888964 0.02838523 -0.00558574
+v 0.01926117 0.02812402 -0.00558574
+v 0.01961964 0.02786925 -0.00558574
+v 0.01333736 0.03008095 -0.00558573
+v 0.01333736 0.02734127 -0.02348172
+v 0.01837115 0.02734124 -0.01660013
+v 0.01786640 0.02734124 -0.01755493
+v 0.01742620 0.02734125 -0.01824870
+v 0.01871864 0.03008098 -0.01428582
+v 0.01604998 0.03008095 -0.00558573
+v 0.01630819 0.02994337 -0.00558573
+v 0.01649086 0.02984521 -0.00558573
+v 0.01662821 0.02976637 -0.00558573
+v 0.01708146 0.02950382 -0.00558573
+v 0.01780047 0.02907097 -0.00558573
+v 0.01827432 0.02877892 -0.00558573
+v 0.01333736 0.03008099 -0.01543158
+v 0.01333736 0.02738364 -0.02338011
+v 0.01680882 0.03008099 -0.01590811
+v 0.01729366 0.03008099 -0.01565057
+v 0.01806349 0.03008099 -0.01506018
+v 0.01338681 0.02734127 -0.02342741
+v 0.01660692 0.02734125 -0.01944176
+v 0.01630888 0.02734125 -0.01982544
+v 0.01549715 0.02734126 -0.02086609
+v 0.01414977 0.02734126 -0.02252867
+v 0.01382495 0.02734126 -0.02291585
+v 0.01440181 0.03008099 -0.01580124
+v 0.01333736 0.02987100 -0.01623572
+v 0.01333736 0.02748125 -0.02313659
+v 0.01571073 0.03008099 -0.01610082
+v 0.01333736 0.02966289 -0.01689094
+v 0.01333736 0.02829169 -0.02100449
+v 0.01333736 0.02834480 -0.02085733
+v 0.01333736 0.02856201 -0.02023714
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 15
+f 1 15 6
+f 1 6 16
+f 1 16 33
+f 1 33 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 19
+f 1 19 18
+f 1 18 17
+f 1 17 9
+f 1 9 7
+f 1 7 2
+f 2 8 20
+f 2 20 32
+f 2 32 31
+f 2 31 30
+f 2 30 42
+f 2 42 39
+f 2 39 28
+f 2 28 15
+f 2 15 21
+f 2 21 10
+f 2 10 4
+f 2 4 3
+f 2 7 9
+f 2 9 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 15 28
+f 6 28 40
+f 6 40 43
+f 6 43 46
+f 6 46 45
+f 6 45 44
+f 6 44 41
+f 6 41 29
+f 6 29 16
+f 8 9 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 32
+f 28 39 40
+f 29 41 30
+f 30 41 42
+f 32 38 33
+f 39 42 40
+f 40 42 43
+f 41 44 42
+f 42 44 45
+f 42 45 46
+f 42 46 43
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_42.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69aeae8f637d22f39371b562b38fcd6ce638587f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01918185 0.03459608 0.00674957
+v 0.01918185 0.03459608 0.00774957
+v 0.01918185 0.03559608 0.00674957
+v 0.01918185 0.03559608 0.00774957
+v 0.02018185 0.03459608 0.00674957
+v 0.02018185 0.03459608 0.00774957
+v 0.02018185 0.03559608 0.00674957
+v 0.02018185 0.03559608 0.00774957
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_43.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583e461e53cf81bcf8b0988889f04bf6616e93c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_43.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.01667034 0.03206568 0.00730129
+v 0.01571669 0.03256111 0.00730129
+v 0.01368487 0.03206568 0.00730129
+v 0.01368487 0.03206571 0.00072003
+v 0.01564654 0.03258899 0.00730129
+v 0.01368487 0.03322829 0.00730129
+v 0.01446960 0.03304789 0.00730129
+f 1 2 5
+f 1 5 7
+f 1 7 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 6 7
+f 4 7 5
+
diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_5.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54858498185abb411250f766be29617292242051
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_5.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.00189681 0.03655650 0.02401755
+v 0.00189681 0.03650997 0.02270827
+v 0.00189681 0.03646845 0.02533359
+v 0.00352270 0.03640557 0.02490993
+v 0.00256141 0.03651499 0.02401755
+v 0.00256141 0.03646972 0.02270827
+v 0.00189681 0.03647601 0.02208631
+v 0.00193901 0.03637411 0.02598710
+v 0.00245065 0.03643575 0.02533922
+v 0.00189681 0.03637411 0.02598823
+v 0.00361765 0.03641689 0.02401755
+v 0.00281591 0.03633388 0.02578316
+v 0.00392753 0.03628608 0.02533922
+v 0.00519211 0.03611251 0.02532795
+v 0.00519211 0.03621188 0.02401755
+v 0.00427565 0.03634142 0.02401755
+v 0.00341326 0.03639300 0.02270827
+v 0.00251921 0.03640432 0.02149477
+v 0.00205241 0.03638294 0.02057534
+v 0.00189681 0.03640180 0.02073309
+v 0.00325106 0.03637413 0.02199504
+v 0.00189681 0.03633387 0.02602203
+v 0.00189681 0.03577165 0.02648737
+v 0.00245065 0.03582196 0.02641864
+v 0.00387610 0.03561695 0.02649752
+v 0.00519211 0.03552639 0.02645132
+v 0.00650812 0.03541445 0.02637808
+v 0.00782412 0.03527862 0.02625752
+v 0.00650812 0.03588989 0.02532795
+v 0.00519211 0.03616661 0.02270827
+v 0.00650812 0.03598925 0.02401755
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+v 0.00292931 0.03634646 0.02112294
+v 0.00210912 0.03600815 0.01571794
+v 0.00189681 0.03605469 0.01615963
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+v 0.00251921 0.03631126 0.02011901
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+v 0.00376402 0.03628358 0.02149477
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+v 0.00189681 0.03439316 0.02717694
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+v 0.01043372 0.03490382 0.02541133
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+v 0.01440020 0.03287506 0.02641075
+v 0.01316463 0.03318446 0.02652455
+v 0.01536809 0.03265495 0.02622371
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+v 0.01432240 0.03348256 0.02534146
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+v 0.01316463 0.03396302 0.02534146
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+v 0.00248097 0.02824784 0.01571791
+v 0.00189681 0.03053063 0.02401753
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+v 0.00189681 0.03175692 0.02644455
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_6.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72ae69d34e2591619e817e1493e79ad6ac7e04a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_6.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_7.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f258ad243aaf5387cdbb3fd24bda68249421af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_7.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_8.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfdeeaa77f564170a17302fcca46572dabd463d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_8.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_9.obj b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bede4c2ca375ce0503a7964894cc87581a7918b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006_collision_9.obj
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