diff --git a/messy_objects/bottle_007/coacd_collision.obj b/messy_objects/bottle_007/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b3e1e81fefab13e92198cd8be6d03bb8e35687
--- /dev/null
+++ b/messy_objects/bottle_007/coacd_collision.obj
@@ -0,0 +1,20887 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/messy_objects/bottle_007/model.urdf b/messy_objects/bottle_007/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/bottle_007/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/bottle_007/model_annnotation.json b/messy_objects/bottle_007/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ebdccbfe521bf37aa55129ffffccf21cd1b059
--- /dev/null
+++ b/messy_objects/bottle_007/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.07530305509999999, 0.034022737235, 0.034045801900000006]}
\ No newline at end of file
diff --git a/messy_objects/handbag_003/003.obj.mtl b/messy_objects/handbag_003/003.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91109b04e6c426d7a145a88b1b1bbb1f767eff5f
--- /dev/null
+++ b/messy_objects/handbag_003/003.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 003.jpg
+
diff --git a/messy_objects/handbag_003/coacd_collision.obj b/messy_objects/handbag_003/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667fa97372360993fb398f4edd7115529eced235
--- /dev/null
+++ b/messy_objects/handbag_003/coacd_collision.obj
@@ -0,0 +1,19600 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/messy_objects/handbag_003/model.urdf b/messy_objects/handbag_003/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/handbag_003/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/handbag_003/model_annnotation.json b/messy_objects/handbag_003/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..b713226fd69d57f2484f7970b6d40a2b071b500a
--- /dev/null
+++ b/messy_objects/handbag_003/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.070191380105, 0.037116644010000005, 0.09794688596500001]}
\ No newline at end of file
diff --git a/messy_objects/handbag_003/textured.obj b/messy_objects/handbag_003/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccbe1845f0bcefdd21176186683d7e03ab6afd3e
--- /dev/null
+++ b/messy_objects/handbag_003/textured.obj
@@ -0,0 +1,48544 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object 003.obj
+#
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+# Faces: 15432
+#
+####
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diff --git a/messy_objects/notebook_001/001.obj.mtl b/messy_objects/notebook_001/001.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..605d47ab3c64461f6da85610f9e7b84ad4d2e30a
--- /dev/null
+++ b/messy_objects/notebook_001/001.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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diff --git a/messy_objects/notebook_001/coacd_collision.obj b/messy_objects/notebook_001/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df0e8d1de2adabf5ac48b20cf4bd45347fef9136
--- /dev/null
+++ b/messy_objects/notebook_001/coacd_collision.obj
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diff --git a/messy_objects/notebook_001/model.urdf b/messy_objects/notebook_001/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/notebook_001/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/notebook_001/model_annnotation.json b/messy_objects/notebook_001/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..822ffa7ccd1133feb7883c00677076b718a0f6e4
--- /dev/null
+++ b/messy_objects/notebook_001/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.10538405449000002, 0.0071373172999999995, 0.075858631605]}
\ No newline at end of file
diff --git a/messy_objects/notebook_001/textured.obj b/messy_objects/notebook_001/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d0587b48a4103a043e88205957b1bf9fcb6940a
--- /dev/null
+++ b/messy_objects/notebook_001/textured.obj
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+f 5029/15301/5029 17081/7/17081 8792/152/8792
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+f 17140/15108/17140 17139/10190/17139 40/10202/40
+f 10872/6918/10872 17140/15108/17140 4966/184/4966
+vt 0.837611 0.226758
+f 36/170/36 17178/22628/17178 50/168/50
+f 17178/22628/17178 36/170/36 35/21552/35
+f 14587/12315/14587 17142/171/17142 14366/12313/14366
+f 49/169/49 14366/12313/14366 17142/171/17142
+f 17144/15118/17144 14367/12309/14367 55/10164/55
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+f 4972/10165/4972 7054/12307/7054 38/12306/38
+f 56/2460/56 17143/15097/17143 14370/6923/14370
+f 4970/15113/4970 17139/10190/17139 10872/6918/10872
+f 55/10164/55 14369/12592/14369 7053/12308/7053
+f 17142/171/17142 17146/17888/17146 12540/172/12540
+f 14587/12315/14587 17144/15118/17144 17142/171/17142
+f 14587/12315/14587 14367/12309/14367 17144/15118/17144
+f 17146/17888/17146 17142/171/17142 17144/15118/17144
+f 17145/14955/17145 17147/17996/17147 545/17994/545
+f 30/17886/30 17146/17888/17146 17148/10163/17148
+vt 0.341544 0.095488
+f 17162/22629/17162 17155/22629/17155 17164/22629/17164
+f 17168/22629/17168 17159/22629/17159 17158/22629/17158
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+f 17154/22629/17154 3819/22629/3819 14359/22629/14359
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+f 17168/22629/17168 17158/22629/17158 17165/22629/17165
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+f 17157/22629/17157 17162/22629/17162 17164/22629/17164
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+f 12538/22629/12538 17192/22629/17192 17178/22629/17178
+f 6184/22629/6184 17175/22629/17175 17191/22629/17191
+f 17175/22629/17175 6184/22629/6184 3018/22629/3018
+f 6192/22629/6192 17189/22629/17189 17199/22629/17199
+f 6192/22629/6192 17195/22629/17195 17189/22629/17189
+f 3019/22629/3019 6186/22629/6186 17197/22629/17197
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+f 17182/22629/17182 17181/22629/17181 17200/22629/17200
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+f 17184/22629/17184 17178/22629/17178 17192/22629/17192
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+f 17201/22629/17201 17183/22629/17183 17174/22629/17174
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+f 17187/22629/17187 42/22629/42 17127/22629/17127
+f 17187/22629/17187 17127/22629/17127 17186/22629/17186
+f 17185/22629/17185 4985/22629/4985 17196/22629/17196
+f 17185/22629/17185 17196/22629/17196 17174/22629/17174
+f 17191/22629/17191 17188/22629/17188 17201/22629/17201
+f 17180/22629/17180 17179/22629/17179 17203/22629/17203
+f 17186/22629/17186 17199/22629/17199 17188/22629/17188
+f 17186/22629/17186 17197/22629/17197 17187/22629/17187
+f 17188/22629/17188 17191/22629/17191 17202/22629/17202
+f 17193/22629/17193 17192/22629/17192 7052/22629/7052
+f 17189/22629/17189 17183/22629/17183 17201/22629/17201
+f 17190/22629/17190 17191/22629/17191 17196/22629/17196
+f 17190/22629/17190 8913/22629/8913 6184/22629/6184
+f 4985/22629/4985 17126/22629/17126 17196/22629/17196
+f 17197/22629/17197 3020/22629/3020 17187/22629/17187
+f 17191/22629/17191 17175/22629/17175 17202/22629/17202
+f 17195/22629/17195 12545/22629/12545 12544/22629/12544
+f 17176/22629/17176 17141/22629/17141 4967/22629/4967
+f 17197/22629/17197 6186/22629/6186 3020/22629/3020
+f 17194/22629/17194 1203/22629/1203 1197/22629/1197
+f 17194/22629/17194 17184/22629/17184 17193/22629/17193
+f 17194/22629/17194 17193/22629/17193 17179/22629/17179
+f 17180/22629/17180 17194/22629/17194 17179/22629/17179
+f 17196/22629/17196 17126/22629/17126 6181/22629/6181
+f 17198/22629/17198 17180/22629/17180 17203/22629/17203
+f 17203/22629/17203 17179/22629/17179 17193/22629/17193
+f 17195/22629/17195 12544/22629/12544 17141/22629/17141
+f 17200/22629/17200 6559/22629/6559 17198/22629/17198
+f 6590/22629/6590 17205/22629/17205 17206/22629/17206
+f 17205/22629/17205 1507/22629/1507 17206/22629/17206
+f 14539/22629/14539 14538/22629/14538 17205/22629/17205
+f 17205/22629/17205 6590/22629/6590 14539/22629/14539
+f 5553/22629/5553 1507/22629/1507 9434/22629/9434
+f 9434/22629/9434 9432/22629/9432 9433/22629/9433
+# 34404 faces, 22629 coords texture
+
+# End of File
diff --git a/messy_objects/plate_005/005.obj.mtl b/messy_objects/plate_005/005.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..648bbdfdbe5cdefd230f6166ad93371fe83e1f77
--- /dev/null
+++ b/messy_objects/plate_005/005.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 005.jpg
+
diff --git a/messy_objects/plate_005/model.urdf b/messy_objects/plate_005/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/plate_005/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/plate_009/009.obj.mtl b/messy_objects/plate_009/009.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2194904c88a6a90c895e4b520b99978ee0153335
--- /dev/null
+++ b/messy_objects/plate_009/009.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 009.jpg
+
diff --git a/messy_objects/plate_009/coacd_collision.obj b/messy_objects/plate_009/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813f56d6680a61239564c7f5fb5547044f3a7487
--- /dev/null
+++ b/messy_objects/plate_009/coacd_collision.obj
@@ -0,0 +1,16301 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v -0.17580734 109.51534724 -3.85133042 0.54509804 0.71372549 0.60000000
+v -0.17580734 108.85114197 -5.74456601 0.54509804 0.71372549 0.60000000
+v -0.17580734 103.56256303 -3.85133042 0.54509804 0.71372549 0.60000000
+v 1.20526193 109.48401997 -3.85133042 0.54509804 0.71372549 0.60000000
+v 1.20526193 108.82607193 -5.74456601 0.54509804 0.71372549 0.60000000
+v -0.17580734 108.26839035 -7.22249983 0.54509804 0.71372549 0.60000000
+v 1.20526193 108.25586218 -7.19631782 0.54509804 0.71372549 0.60000000
+v -0.17580734 45.50096867 -5.68678473 0.54509804 0.71372549 0.60000000
+v 91.07199462 45.50096867 -3.85133042 0.54509804 0.71372549 0.60000000
+v 1.61374662 109.47148495 -3.85133042 0.54509804 0.71372549 0.60000000
+v 3.50055836 109.40882356 -3.85133042 0.54509804 0.71372549 0.60000000
+v 3.50055836 108.74461829 -5.74456601 0.54509804 0.71372549 0.60000000
+v 3.50055836 108.21826398 -7.12409111 0.54509804 0.71372549 0.60000000
+v -0.17580734 107.43500686 -8.37270611 0.54509804 0.71372549 0.60000000
+v 1.20526193 107.40993682 -8.34652324 0.54509804 0.71372549 0.60000000
+v -0.17580734 45.50096867 -10.42393632 0.54509804 0.71372549 0.60000000
+v 99.18333801 45.50096867 -3.85133042 0.54509804 0.71372549 0.60000000
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diff --git a/messy_objects/plate_009/model.urdf b/messy_objects/plate_009/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/plate_009/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/plate_009/model_annnotation.json b/messy_objects/plate_009/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a380db896877decf3f8ac8db7620d8a7dcf750
--- /dev/null
+++ b/messy_objects/plate_009/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.014589859965, 0.11579192563499999, 0.11524266697499999]}
\ No newline at end of file
diff --git a/messy_objects/plate_009/textured.obj b/messy_objects/plate_009/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0c006f4d7f5c7c53f4a7d8ed069ea87033a592
--- /dev/null
+++ b/messy_objects/plate_009/textured.obj
@@ -0,0 +1,50044 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+
+# End of File
diff --git a/messy_objects/ramen_box_023/023.obj.mtl b/messy_objects/ramen_box_023/023.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6913866a00fe8b50a4b0a17cb2b3e35939bf605
--- /dev/null
+++ b/messy_objects/ramen_box_023/023.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 023.jpg
+
diff --git a/messy_objects/ramen_box_023/coacd_collision.obj b/messy_objects/ramen_box_023/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b565a129b70b07314e546e1ed262af57716afd3
--- /dev/null
+++ b/messy_objects/ramen_box_023/coacd_collision.obj
@@ -0,0 +1,21207 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/ramen_box_023/model.urdf b/messy_objects/ramen_box_023/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/ramen_box_023/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/ramen_box_023/model_annnotation.json b/messy_objects/ramen_box_023/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c65938c0c0c19261411c5386074b82515fc1cad
--- /dev/null
+++ b/messy_objects/ramen_box_023/model_annnotation.json
@@ -0,0 +1 @@
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diff --git a/messy_objects/ramen_box_023/textured.obj b/messy_objects/ramen_box_023/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3964fade1675dd5ea1dee8937eb5302cbf176014
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+# End of File
diff --git a/messy_objects/razor_006/coacd_collision.obj b/messy_objects/razor_006/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173d3bf9cb179934d8c40fcc792bc5b72f4629b8
--- /dev/null
+++ b/messy_objects/razor_006/coacd_collision.obj
@@ -0,0 +1,5443 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/razor_006/model.urdf b/messy_objects/razor_006/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/razor_006/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/razor_006/model_annnotation.json b/messy_objects/razor_006/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..e09d1d8ce2aad16b8c33c52ed767f2b03c99b8a6
--- /dev/null
+++ b/messy_objects/razor_006/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": -1}, "object_symmetry": 2, "object_size": [0.070870278505, 0.00945685988, 0.022380260104999997]}
\ No newline at end of file
diff --git a/messy_objects/razor_006/textured.obj b/messy_objects/razor_006/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7cc78573908775b92a8d94f7ef60b4a249f7259
--- /dev/null
+++ b/messy_objects/razor_006/textured.obj
@@ -0,0 +1,6348 @@
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+vt 0.389580 0.693725
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+# 2012 faces, 2316 coords texture
+
+# End of File
diff --git a/messy_objects/snack_box_011/011.obj.mtl b/messy_objects/snack_box_011/011.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ae4e323ac6b952ea6719f97ab2040f67343a104
--- /dev/null
+++ b/messy_objects/snack_box_011/011.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 011.jpg
+
diff --git a/messy_objects/snack_box_011/coacd_collision.obj b/messy_objects/snack_box_011/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61411248d584b3ec30e802079fb0fbe1647b529
--- /dev/null
+++ b/messy_objects/snack_box_011/coacd_collision.obj
@@ -0,0 +1,7977 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/snack_box_011/model.urdf b/messy_objects/snack_box_011/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/snack_box_011/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/snack_box_011/model_annnotation.json b/messy_objects/snack_box_011/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fcb892a9a1220481d230fbfece777e41083038
--- /dev/null
+++ b/messy_objects/snack_box_011/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.063943222845, 0.02276152612, 0.057159554540000004]}
\ No newline at end of file
diff --git a/messy_objects/snack_box_011/textured.obj b/messy_objects/snack_box_011/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c2929f72d59b10fad50be4f65c06163ce75fdd
--- /dev/null
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+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+f 17071/16237/17071 16714/16246/16714 8316/20119/8316
+f 17069/16435/17069 16933/16436/16933 15475/16685/15475
+f 13886/12684/13886 14189/18403/14189 13470/12669/13470
+f 3408/1712/3408 3216/8413/3216 6566/1730/6566
+f 13477/12670/13477 13470/12669/13470 14189/18403/14189
+f 14826/20813/14826 14824/8053/14824 11912/16543/11912
+f 13439/8058/13439 14819/8063/14819 4821/8905/4821
+# 37300 faces, 22221 coords texture
+
+# End of File
diff --git a/messy_objects/snack_box_018/018.obj.mtl b/messy_objects/snack_box_018/018.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86c3397ed8b17a30c181894496917491b8db5b80
--- /dev/null
+++ b/messy_objects/snack_box_018/018.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 018.jpg
+
diff --git a/messy_objects/snack_box_018/coacd_collision.obj b/messy_objects/snack_box_018/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14ba4dc82384ac155ba1eaa15303163e9700790
--- /dev/null
+++ b/messy_objects/snack_box_018/coacd_collision.obj
@@ -0,0 +1,11257 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/snack_box_018/model.urdf b/messy_objects/snack_box_018/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/snack_box_018/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/snack_box_018/model_annnotation.json b/messy_objects/snack_box_018/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a5223d6f145c28b05f4b2dccbc11ea7b420f83d
--- /dev/null
+++ b/messy_objects/snack_box_018/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.047693963645, 0.040184158255000005, 0.04686433425]}
\ No newline at end of file
diff --git a/messy_objects/snack_box_018/textured.obj b/messy_objects/snack_box_018/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d855a0e22e75cdeda5a9efef88ad0355ee1c719
--- /dev/null
+++ b/messy_objects/snack_box_018/textured.obj
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+####
+#
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+#
+####
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+# 29850 faces, 17123 coords texture
+
+# End of File
diff --git a/messy_objects/spoon_004/004.obj.mtl b/messy_objects/spoon_004/004.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4fff9c6faf8930a903aa39a4262f0587d0ce21de
--- /dev/null
+++ b/messy_objects/spoon_004/004.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 004.jpg
+
diff --git a/messy_objects/spoon_004/coacd_collision.obj b/messy_objects/spoon_004/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6809018d7418a281ad3c801bde5b1cc7ced489
--- /dev/null
+++ b/messy_objects/spoon_004/coacd_collision.obj
@@ -0,0 +1,12349 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/spoon_004/model.urdf b/messy_objects/spoon_004/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/spoon_004/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/spoon_004/model_annnotation.json b/messy_objects/spoon_004/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a37de64430d599dfce25cafa11e375375832017
--- /dev/null
+++ b/messy_objects/spoon_004/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.07088661601, 0.012672956275000001, 0.023209613664999997]}
\ No newline at end of file
diff --git a/messy_objects/spoon_004/textured.obj b/messy_objects/spoon_004/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b7d7c6a87fd9835ac2e00152f622d06add7dc23
--- /dev/null
+++ b/messy_objects/spoon_004/textured.obj
@@ -0,0 +1,25698 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object 004.obj
+#
+# Vertices: 4208
+# Faces: 8416
+#
+####
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diff --git a/messy_objects/thermos_005/005.obj.mtl b/messy_objects/thermos_005/005.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..648bbdfdbe5cdefd230f6166ad93371fe83e1f77
--- /dev/null
+++ b/messy_objects/thermos_005/005.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 005.jpg
+
diff --git a/messy_objects/thermos_005/coacd_collision.obj b/messy_objects/thermos_005/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21219fafc83c91e2309288aef949b275c9dab66e
--- /dev/null
+++ b/messy_objects/thermos_005/coacd_collision.obj
@@ -0,0 +1,11475 @@
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+
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diff --git a/messy_objects/thermos_005/model.urdf b/messy_objects/thermos_005/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/thermos_005/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/thermos_005/model_annnotation.json b/messy_objects/thermos_005/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de949277d9e1602b75d5db60927a4e89601c162
--- /dev/null
+++ b/messy_objects/thermos_005/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.104387660515, 0.03978139304, 0.03361862718]}
\ No newline at end of file
diff --git a/messy_objects/thermos_005/textured.obj b/messy_objects/thermos_005/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d42eb525dbc8dc2ccc6e9a024e67e0d37268ee
--- /dev/null
+++ b/messy_objects/thermos_005/textured.obj
@@ -0,0 +1,78824 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object 005.obj
+#
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+# 29172 faces, 20464 coords texture
+
+# End of File
diff --git a/messy_objects/toothbrush_017/017.obj.mtl b/messy_objects/toothbrush_017/017.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f32906a9a4786e9601623c393d5d76086013f4e
--- /dev/null
+++ b/messy_objects/toothbrush_017/017.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 017.jpg
+
diff --git a/messy_objects/toothbrush_017/coacd_collision.obj b/messy_objects/toothbrush_017/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1def51d48b937950edb7ee3565f5ab002475ca
--- /dev/null
+++ b/messy_objects/toothbrush_017/coacd_collision.obj
@@ -0,0 +1,7856 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/toothbrush_017/model.urdf b/messy_objects/toothbrush_017/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/toothbrush_017/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/toothbrush_017/model_annnotation.json b/messy_objects/toothbrush_017/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd27ca5784fdc1e794cc484051f7001e43b0f1b5
--- /dev/null
+++ b/messy_objects/toothbrush_017/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": -1}, "object_symmetry": 2, "object_size": [0.06811012167000002, 0.008789616980000001, 0.011322196885]}
\ No newline at end of file
diff --git a/messy_objects/toothbrush_017/textured.obj b/messy_objects/toothbrush_017/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e20a4bf4af6ef29d029ccc640f9735da610fb309
--- /dev/null
+++ b/messy_objects/toothbrush_017/textured.obj
@@ -0,0 +1,4029 @@
+####
+#
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+#
+####
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diff --git a/messy_objects/toothbrush_022/022.obj.mtl b/messy_objects/toothbrush_022/022.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73de5717cb093b7437d9c1cd7db0d51aeb5d43fb
--- /dev/null
+++ b/messy_objects/toothbrush_022/022.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
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+#
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diff --git a/messy_objects/toothbrush_022/model_annnotation.json b/messy_objects/toothbrush_022/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..639132a8d4d1eac67de99e74ad29b40376b25330
--- /dev/null
+++ b/messy_objects/toothbrush_022/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": -1}, "object_symmetry": 2, "object_size": [0.07797245872, 0.00823330678, 0.011411890365]}
\ No newline at end of file
diff --git a/messy_objects/toothbrush_022/textured.obj b/messy_objects/toothbrush_022/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fff80147dfc4b4ac33119c00f2298da56c27ded
--- /dev/null
+++ b/messy_objects/toothbrush_022/textured.obj
@@ -0,0 +1,4778 @@
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+f 533/1017/533 489/181/489 462/1699/462
+f 462/1773/462 400/1266/400 557/309/557
+# 1488 faces, 1778 coords texture
+
+# End of File
diff --git a/messy_objects/toy_car_017/017.obj.mtl b/messy_objects/toy_car_017/017.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f32906a9a4786e9601623c393d5d76086013f4e
--- /dev/null
+++ b/messy_objects/toy_car_017/017.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 017.jpg
+
diff --git a/messy_objects/toy_car_017/coacd_collision.obj b/messy_objects/toy_car_017/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0799a05009a41872060f7e7905a4a2694a76ffe
--- /dev/null
+++ b/messy_objects/toy_car_017/coacd_collision.obj
@@ -0,0 +1,14514 @@
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diff --git a/messy_objects/toy_car_017/model.urdf b/messy_objects/toy_car_017/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/toy_car_017/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/toy_car_017/model_annnotation.json b/messy_objects/toy_car_017/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a2257d2b91fb22aa25e6af34e6c0892bec3817
--- /dev/null
+++ b/messy_objects/toy_car_017/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.052997932085000005, 0.016018174164999996, 0.024714080559999997]}
\ No newline at end of file
diff --git a/messy_objects/toy_car_017/textured.obj b/messy_objects/toy_car_017/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05f54faa20416fafe5b8f83041abc0cbc70b31dd
--- /dev/null
+++ b/messy_objects/toy_car_017/textured.obj
@@ -0,0 +1,12437 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+vt 0.105132 0.495219
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+vt 0.265738 0.214562
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+f 1080/1957/1080 847/2436/847 1013/3822/1013
+f 1211/2589/1211 1080/1957/1080 1013/3822/1013
+f 753/1936/753 746/1000/746 136/3583/136
+vt 0.328092 0.224726
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+vt 0.982410 0.111853
+vt 0.992442 0.103963
+f 313/3970/313 25/4415/25 903/4416/903
+f 1165/648/1165 906/1430/906 1042/1496/1042
+f 412/1491/412 903/4414/903 25/3353/25
+vt 0.533806 0.663622
+f 1235/646/1235 1042/1496/1042 1010/4417/1010
+f 667/3515/667 877/3528/877 875/3516/875
+# 3998 faces, 4417 coords texture
+
+# End of File
diff --git a/messy_objects/toys_030/030.obj.mtl b/messy_objects/toys_030/030.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fa43055a94e01425d60736188289895b9a4351a
--- /dev/null
+++ b/messy_objects/toys_030/030.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 030.jpg
+
diff --git a/messy_objects/toys_030/coacd_collision.obj b/messy_objects/toys_030/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..708a6c9c351ff3eeb5ac9e58070ea3b24bb8d923
--- /dev/null
+++ b/messy_objects/toys_030/coacd_collision.obj
@@ -0,0 +1,27093 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/messy_objects/toys_030/model.urdf b/messy_objects/toys_030/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/toys_030/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
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+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
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+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
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+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
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+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/toys_030/model_annnotation.json b/messy_objects/toys_030/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..af03e144c261934fdfbcd4aec5e8909579e5da7a
--- /dev/null
+++ b/messy_objects/toys_030/model_annnotation.json
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+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.063057809015, 0.01927150967, 0.038329507025]}
\ No newline at end of file
diff --git a/messy_objects/toys_030/textured.obj b/messy_objects/toys_030/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa21f9dd2331165614dafa8e7fd387fdd29505c4
--- /dev/null
+++ b/messy_objects/toys_030/textured.obj
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+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+f 1527/1185/1527 2432/4831/2432 2443/1187/2443
+vt 0.317165 0.059533
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+vt 0.957412 0.240191
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+vt 0.597554 0.063520
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+vt 0.364248 0.180966
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+f 2503/4289/2503 1792/2824/1792 1521/2825/1521
+vt 0.265594 0.436309
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+f 2496/2920/2496 2507/1774/2507 2208/3744/2208
+f 2469/4228/2469 2478/2676/2478 2294/4839/2294
+f 2021/2912/2021 1421/1349/1421 1792/2824/1792
+vt 0.696092 0.091579
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+vt 0.703866 0.090649
+f 2468/4840/2468 2113/4841/2113 2269/4842/2269
+f 2288/1012/2288 2096/830/2096 2375/1013/2375
+f 2233/1279/2233 2222/2744/2222 2324/2442/2324
+vt 0.686438 0.082322
+f 2468/4840/2468 2194/4843/2194 2113/4841/2113
+f 2114/4774/2114 1999/1031/1999 2487/3939/2487
+f 2397/315/2397 2213/751/2213 822/3694/822
+f 632/61/632 2409/1071/2409 2154/1070/2154
+f 824/313/824 473/323/473 2030/314/2030
+vt 0.286415 0.478525
+f 2283/4221/2283 2299/1555/2299 2420/4844/2420
+f 632/61/632 2154/1070/2154 2223/62/2223
+f 2236/2438/2236 2233/1279/2233 2324/2442/2324
+# 5030 faces, 4844 coords texture
+
+# End of File
diff --git a/messy_objects/toys_034/coacd_collision.obj b/messy_objects/toys_034/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea448e9f27185f105ea0dd53fad630dfa8d02ed
--- /dev/null
+++ b/messy_objects/toys_034/coacd_collision.obj
@@ -0,0 +1,14443 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/messy_objects/toys_034/model.urdf b/messy_objects/toys_034/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/toys_034/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/toys_034/model_annnotation.json b/messy_objects/toys_034/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f85e1b6b8061cc3c08b9acde6967bf8a1eb4895e
--- /dev/null
+++ b/messy_objects/toys_034/model_annnotation.json
@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.04619858809500001, 0.01541875146, 0.04858363291000001]}
\ No newline at end of file
diff --git a/messy_objects/toys_041/041.obj.mtl b/messy_objects/toys_041/041.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e05f618a6f8e74ac3469be6be4bde16371137e13
--- /dev/null
+++ b/messy_objects/toys_041/041.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 041.jpg
+
diff --git a/messy_objects/toys_041/coacd_collision.obj b/messy_objects/toys_041/coacd_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3758a62909082eee458ef04b4919eb8f23c114cd
--- /dev/null
+++ b/messy_objects/toys_041/coacd_collision.obj
@@ -0,0 +1,37471 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 13.52143756 2.75730207 82.40226906 0.54509804 0.71372549 0.60000000
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diff --git a/messy_objects/toys_041/model.urdf b/messy_objects/toys_041/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15
--- /dev/null
+++ b/messy_objects/toys_041/model.urdf
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/messy_objects/toys_041/model_annnotation.json b/messy_objects/toys_041/model_annnotation.json
new file mode 100644
index 0000000000000000000000000000000000000000..1410bdad0fba5d16564386dfffe7e4109149c055
--- /dev/null
+++ b/messy_objects/toys_041/model_annnotation.json
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+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.090826319205, 0.05807540783, 0.09242658212499999]}
\ No newline at end of file
diff --git a/messy_objects/toys_041/textured.obj b/messy_objects/toys_041/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f5c4a225451fc021b76d62d9ee55fd39dfd544
--- /dev/null
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+####
+#
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+#
+####
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