diff --git a/.gitattributes b/.gitattributes
index 9c03ee9a905f507399ac3a8c75bd8ac6700fa27c..aacc4392a3d7d04d0d19d5f898874d3a92df9fbd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4150,3 +4150,5 @@ dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray.gl
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f553c3e207355c4b525c102f63521a8/fork_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f553c3e207355c4b525c102f63521a8/mesh/fork_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.urdf b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f70b0908857b352ad370de351a780cec3406bfff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_011">
+   <link name="coaster_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_011.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>2faeba613c02524487277aa76af2a82d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>wooden coaster</name>
+         <color>brown</color>
+         <shape>disk</shape>
+         <material>wood</material>
+         <description>round brown wooden coaster with engraved decorative top</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518184334</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.050017 -0.050087 -0.005830</min>
+            <max>0.049973 0.049913 0.007718</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.usd b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..799d64a6ad24e75ee3085df1238dc531ff475f16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4972172
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.glb b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..63083266beb82850f3b2388dee3d0405eaf1340a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff223ef01c71e1c3215c951857ea4a3a992a20f084a70ac45bc271d8be66e6f2
+size 16394236
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.mtl b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b04968472b5651e67971bf415f47e85d6aa8ee2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.mtl
@@ -0,0 +1,6 @@
+newmtl coaster_011_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f003996cac3e9629ba9c4ff2c8127ab9ed0d04e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.obj
@@ -0,0 +1,118086 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011_collision.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8150af59d466a35ca7b82660bbc1a79e7669499f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011_collision.obj
@@ -0,0 +1,13318 @@
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d92581c0adb4997685588017922edf8971a8f87e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6389a55852c9f16abb312155a63c0064cb1cdcd26022bb8d342c899310a16352
+size 12966740
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0180252cad0b00b22ac724e9de3b4efcd4258086
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_011_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
+map_Kd coaster_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d92581c0adb4997685588017922edf8971a8f87e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6389a55852c9f16abb312155a63c0064cb1cdcd26022bb8d342c899310a16352
+size 12966740
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/coaster_011.xml b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/coaster_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..643c5f66c8180b8c8434a3cc5e940b748921980f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/coaster_011.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coaster_011">
+  <asset>
+    <material name="material_0" texture="texture_0_coaster_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coaster_011_geometry_Looks_material_0" type="2d" file="mesh/coaster_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coaster_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coaster_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coaster_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coaster_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coaster_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coaster_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coaster_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coaster_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coaster_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coaster_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coaster_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coaster_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coaster_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coaster_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coaster_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coaster_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coaster_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coaster_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coaster_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coaster_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coaster_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coaster_011">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4094f77cde38b5cffdb0e4eaf785ec9e434ff14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011.obj
@@ -0,0 +1,118086 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90eeb26edbdadbf9202905724ef3172d28de46b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision.obj
@@ -0,0 +1,13318 @@
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_0.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a193866cc748d9bc39bab4c3f69ab19430d3eb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_0.obj
@@ -0,0 +1,1618 @@
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_1.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088a970e0445673362e4aecbcf3f1d4ae85747e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_10.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92814f62b7934a09586840cbf2722d2233c9fd72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_11.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b520ca4972573f45db2b954053c3f2ee1c45cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_11.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.04361314 -0.02233228 0.00639507
+v 0.04314609 -0.02233229 0.00694010
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+
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_12.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e710144366cceaeeb6a3ba20f3aaf1ff142361b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_13.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f545648001f9e05f1dca0bc974b200372626d002
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_13.obj
@@ -0,0 +1,1090 @@
+# https://github.com/mikedh/trimesh
+v -0.04526659 -0.00419978 0.00761978
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_14.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1c958ef6673f35cc9007267c91402df494017e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_15.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f15135955f91ea57ccc5ed9a72c9a87c073df2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_16.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b423edb541f5d32aa9e455688473aa00a354f427
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_16.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_17.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295d827d5f068cb9fc23fd2ab1fef65519c6659a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_18.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0647f4fe9a6f025eac00a3cf48b80f9c6c67f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_18.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_19.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bbb5eaf8a3fc1a6c65760061121f07a043f0d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_19.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_2.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e0cc8c3c01793235ebb007c0035c511c6ef87a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_2.obj
@@ -0,0 +1,958 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_3.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f840fdc4711c6e01085125087ae043bea1d2034
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_4.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65ce7c55e57e210272b90b502c1be68589e2ac3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_5.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6576c78b99247bf16e6b132e9e432dd6a91ba45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_5.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_6.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5603374e4e313adf6e7cb067bd5a145d3b590ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_6.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01894073 -0.01463957 -0.00597924
+v -0.01838297 -0.01463957 -0.00598056
+v -0.01894073 -0.01463961 0.00559693
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_7.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c56b971a41de6184e370cf56120d04534029703
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_7.obj
@@ -0,0 +1,1126 @@
+# https://github.com/mikedh/trimesh
+v 0.05007112 -0.00420543 -0.00285874
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_8.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..241ea1acf3cd8dc9c4e4dc436288ebae299c7670
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_9.obj b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e65fa8916d46d71936c5e05742c152930c9a284
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mjcf/mesh/coaster_011_collision_9.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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