diff --git a/.gitattributes b/.gitattributes
index 3bb87513f94fdb7c17d61afbc4ec5d1f0cb3d6aa..d083c58a86827e3f90dca10854d08247411ac1e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4383,5 +4383,5 @@ dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon.g
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d3d8f23c26e052f8ba938fa86e398b98/coaster_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d3d8f23c26e052f8ba938fa86e398b98/mesh/coaster_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.urdf b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..208a1dd9e4866ccbe7120723381bca4b69ce3cfa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_018">
+   <link name="coaster_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>d428b008daf65b4eb0f36ecec21ad43d</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 smooth flat surfaces</description>
+         <min_height>0.0197</min_height>
+         <max_height>0.0197</max_height>
+         <real_height>0.0197</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518184646</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.050034 -0.049992 -0.007811</min>
+            <max>0.049990 0.050008 0.011929</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.usd b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219f884edb06a50d9b2c7928b489d23cbbbfcca25d564c4dd930c25ef2fd8169
+size 4898960
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.glb b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4626fb68085c6ef9ff8c0ebb6ae4bb1aab97af19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdbd7a221beb817bd8f025151bbadc8c3b1b6ef608c9732ccfda07b8e5f9f906
+size 16545348
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.mtl b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81bb3bdf25f004a5e67a8e2ae59450b5f519f2ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.mtl
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+newmtl coaster_018_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/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d7130f09e84819dc4c04d90fcd8d65a83aff63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018_collision.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57682ac88c75dcdec93627ac00194b73d8d17eed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018_collision.obj
@@ -0,0 +1,19519 @@
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cb13d2ae055d79960f02ba3f8791da2a1b9efb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1e5676ed6b6b1aeb167459b61742402acca538e380b3ecc8da54e4303aaa87
+size 13219940
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe33f09d66cbaff6ff9da2d341195a155d99e893
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cb13d2ae055d79960f02ba3f8791da2a1b9efb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1e5676ed6b6b1aeb167459b61742402acca538e380b3ecc8da54e4303aaa87
+size 13219940
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/coaster_018.xml b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/coaster_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e8a7ef6e94d9186bacbca1f1e31a575568821f02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/coaster_018.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coaster_018">
+  <asset>
+    <material name="material_0" texture="texture_0_coaster_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coaster_018_geometry_Looks_material_0" type="2d" file="mesh/coaster_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coaster_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coaster_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coaster_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coaster_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coaster_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coaster_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coaster_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coaster_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coaster_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coaster_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coaster_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coaster_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coaster_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coaster_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coaster_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coaster_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coaster_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coaster_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coaster_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coaster_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coaster_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coaster_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coaster_018_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coaster_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coaster_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coaster_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coaster_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coaster_018_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coaster_018_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coaster_018_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coaster_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coaster_018_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coaster_018_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coaster_018">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" 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/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542088ba8d294ab030a709e55ef8b7ecd354e605
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018.obj
@@ -0,0 +1,117662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_018_geometry_Looks_material_0
+v 0.049702 -0.000616 -0.000447
+v 0.049702 -0.000616 -0.000447
+v 0.049750 0.000019 -0.000853
+v 0.049750 0.000019 -0.000853
+v 0.049480 -0.000294 0.001586
+v 0.049480 -0.000294 0.001586
+v -0.034510 0.009463 -0.007798
+v -0.034510 0.009463 -0.007798
+v -0.035553 0.009447 -0.007791
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+v -0.003224 0.049841 -0.002887
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+v -0.003238 0.049611 -0.000472
+v -0.003238 0.049611 -0.000472
+v -0.004328 0.049631 -0.001439
+v -0.004295 0.049461 0.000195
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+v -0.006782 0.049194 0.000175
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f11be26cfc06753bd5410489f62186dea9f290
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision.obj
@@ -0,0 +1,19519 @@
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_0.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b38d1b596558da0f0769e54188f1e99e5c804d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_1.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011c8493cfffc8a77c44aa6915584fafceff9d16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_10.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf3f57f60f01a91ecf5b0ea6e99fd3ed27fb0f68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_11.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d9af801d9cafb764b63e1b2c13c5ca128d2ccf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_11.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_12.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00aa8ddb7a550607df9403250a51cdcc880cbbd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_12.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_13.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92d0915e893ceb17f9f6d008e4aa5f956db6240
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_13.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_14.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aa31bccea721d880de6b4490cc0b936fdb24fe6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_14.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_15.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfbe9f27e553145f0989cc35165b13c78e81fdb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_15.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_16.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3387234197800b2b0d331e544538440f9b8ad85c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_16.obj
@@ -0,0 +1,1135 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_17.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..732ed9857d2b700b59fb41a1360b6e2615d19b59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_18.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae24592c79d4465ca7897f16027530bd1c5d3907
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_18.obj
@@ -0,0 +1,1183 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_19.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db15a5f0a5b1470f56a9fbcd79659d0068110043
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_2.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fcd0b768f4024c336f0b1186ef9041387334a48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_20.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a09a21d6bcfed016247cf98ddc90e6313856dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_21.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c25a933913edb7d9fcb85cf1b851efc47d2b8de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_21.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_22.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177f47a5c79f627a16f3e1354545844927003a42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_22.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_23.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c24896ad15db46c670aacc7e26367d1471d5fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_23.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_24.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c3c1bdd8681e992a925ca221d0d6116c39698e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_24.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_25.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af57fe4c8c4fd7432c7d2fc9f06cc0986501adb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_25.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_26.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788949d0d5536ec3b084b60b6056e5c966908b8a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_26.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_27.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63edcb44599aa263f1778f34ca325e2487af5155
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_28.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4bf612ceee3c65cbca4e82acd5a545d909c5da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_28.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_29.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17750334fff5252121aa69d28a90b95547d36e4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_29.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_3.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d885aaca83029e313ab58cd90dc7940fe79fdfca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_3.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v -0.02389805 0.00029063 -0.00804337
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_30.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e460a05f70aa836eb105b68f5445d608823503
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_30.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+v 0.02865171 0.00001071 -0.00804298
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+
diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_31.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2eb341b3884fb00ca46a5ee16b558d05cccffc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_31.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.02639710 -0.04161200 0.00642847
+v -0.02600258 -0.04185493 0.00642847
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_4.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8feaadec07075886d4505f27e44aad8c6f32ad7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_5.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f6d0101ba6f9f37bc7cb23e90cefe08c89b315
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_5.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_6.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55be8f4b5979fc9665a784ff38b670047167f6cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_7.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c85a24a4f423e8a2096d479d6e98474dbee411d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_7.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_8.obj b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea5c4be5ad9f48b37f566501e6f6b1f2eee7de6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mjcf/mesh/coaster_018_collision_8.obj
@@ -0,0 +1,703 @@
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