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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mesh/coffee_cup_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mesh/coffee_cup_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..81f7155933e2417a7da9ba233509fd5fa84b99ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mesh/coffee_cup_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329a2933c026731fd2ac49aec23135d98bcc7d6281d7506b93432a7f56cee666
+size 9324938
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mesh/material.mtl b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a43460cc3cd677e608e38c979f939bf4462641c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_002_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
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_0.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65dc171708bf6ecc3bed34bb7ca7eb3edfbcb80f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_1.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fdb54338034a7ec37b67390fdd53cd3d8dbf0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_10.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da0469eda0f863056bf54f50b1d24ee8e96569d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_11.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47d79ddb1b3a25a5c53f400cbb444a0d402a7fd
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_2.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec16b5dccbb81f3c2e2cda5f68ff102ded5126f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_3.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57422cf0ac2ec9dd0c6987dd5be1042cb3d15f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_3.obj
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+
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_4.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6402f5ba0f8d934ea6b91344e72de0fb05ec3cb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_4.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00120969 -0.02559528 0.04851773
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+
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_5.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..149426346c3654b2e85023b72b4e4e79054229e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_5.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_6.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d5b83dd519b6d368add0694f62370a1b0bba9c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_6.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_7.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2de9698b79745682328d312a646cc4c0e437e8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_8.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9d2e55a78dc9aaa1534f81e35af7c9933d9bab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_8.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00120969 -0.00967670 -0.07382283
+v 0.00120969 0.00879169 -0.07382276
+v 0.00858681 -0.00105908 -0.07383482
+v 0.01269464 -0.00967670 -0.07382283
+v 0.00120969 -0.00967714 0.04739305
+v 0.01292865 0.00879169 -0.07382276
+v 0.00120969 0.00879125 0.04739312
+v 0.01292865 -0.00927710 -0.07382282
+v 0.01292865 -0.00967670 -0.07381080
+v 0.01292865 -0.00967715 0.04900445
+v 0.00120969 -0.00311540 0.04788611
+v 0.01292865 0.00879124 0.04892034
+v 0.00120969 0.00388212 0.04783803
+v 0.00448127 0.00510081 0.04818678
+v 0.01022374 0.00879124 0.04861970
+v 0.01292865 -0.00935711 0.04901648
+v 0.00242793 -0.00311540 0.04804245
+v 0.00120969 0.00304676 0.04791019
+v 0.01238033 0.00879124 0.04887224
+v 0.00653461 0.00510081 0.04840324
+v 0.00653461 0.00304676 0.04842728
+v 0.00858681 0.00715487 0.04853552
+v 0.00242793 0.00304676 0.04806652
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_9.obj b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06db48cac57d76533ca316ffbc9da569eb91f6e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_collision_9.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.01294339 -0.00692355 -0.07382186
+v -0.01294339 0.01026137 -0.07382179
+v 0.00120831 0.00099437 -0.07383375
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+v -0.01294339 -0.00692399 0.04740011
+v 0.00120831 0.01026137 -0.07382179
+v -0.01294339 0.01026093 0.04759086
+v 0.00120831 -0.00692399 0.04750737
+v 0.00120831 -0.00638738 0.04759080
+v 0.00120831 -0.00311391 0.04788874
+v 0.00120831 0.01026093 0.04738827
+v 0.00120831 0.00304615 0.04791259
+f 1 2 3
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+f 1 5 7
+f 1 7 2
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+f 2 11 6
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+f 3 9 8
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+f 7 12 11
+
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..81f7155933e2417a7da9ba233509fd5fa84b99ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/mjcf/mesh/coffee_cup_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329a2933c026731fd2ac49aec23135d98bcc7d6281d7506b93432a7f56cee666
+size 9324938
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/textures/material_0.png b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..81f7155933e2417a7da9ba233509fd5fa84b99ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329a2933c026731fd2ac49aec23135d98bcc7d6281d7506b93432a7f56cee666
+size 9324938
diff --git a/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/video.mp4 b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7d54095242f47e4e0e6b318fbfa195d9d3f3e61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e492599befbd5556a8b0efa7f5641ece/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:408d08ca2b3fc19caaa80a224672d7bf1f6f3deea5bba6a3600389a08e280d25
+size 58795