add cup example, generated using vhacd

data/dinnerware/cup/Cup/cup_vhacd.mtl

@@ -0,0 +1,128 @@
+# Blender MTL File: 'None'
+# Material Count: 14
+
+newmtl Shape.014
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.664000 0.688000 0.616000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.015
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.120000 0.744000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.016
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.688000 0.736000 0.392000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.017
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.496000 0.216000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.018
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.720000 0.472000 0.504000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.019
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.576000 0.288000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.020
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.544000 0.536000 0.232000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.021
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.656000 0.240000 0.496000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.022
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.184000 0.536000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.023
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.232000 0.016000 0.176000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.024
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.464000 0.552000 0.536000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.025
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.744000 0.448000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.026
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.336000 0.232000 0.584000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.027
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.152000 0.672000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2

data/dinnerware/cup/Cup/textured-0008192.mtl

@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd textured-0008192-diffuse_map.jpg
+

data/dinnerware/cup/cup_small.urdf

@@ -0,0 +1,30 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.02"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="Cup/textured-0008192.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="Cup/cup_vhacd.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+