diff --git "a/demo_assets/mug/mjcf/mesh/mug_collision.obj" "b/demo_assets/mug/mjcf/mesh/mug_collision.obj"
new file mode 100644--- /dev/null
+++ "b/demo_assets/mug/mjcf/mesh/mug_collision.obj"
@@ -0,0 +1,37988 @@
+# https://github.com/mikedh/trimesh
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