diff --git a/.gitattributes b/.gitattributes
index d10e29a69637dd1bb5de31a0eb9e08cedbd924ee..8fb6b82bf4580dd58c1a9742eb22649c2be01c51 100644
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dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040_collision.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ab597f158a711238ae2e37ae3286a22065cbdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040_collision.obj
@@ -0,0 +1,11610 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e207bc023ec9e4549c9c85e5950e0821cd08a786
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96121a14240d99ae7fbe5fa1f20b5bdc05a3b1dd8dccb962a7d9e21d3d1cde2e
+size 8101231
diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/material.mtl b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c9b8554521e4a24a92a073989d8d91df1cf0b65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e207bc023ec9e4549c9c85e5950e0821cd08a786
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96121a14240d99ae7fbe5fa1f20b5bdc05a3b1dd8dccb962a7d9e21d3d1cde2e
+size 8101231
diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/coaster_040.xml b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/coaster_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fbacf65eebf11da511ea47440d18c62f01935d67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/coaster_040.xml
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619bfd001a18887ee94d995b953bff704f4c6a17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040.obj
@@ -0,0 +1,103830 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_040_geometry_Looks_material_0
+v 0.038955 0.003630 0.004997
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ae1559fd38a2eed4d80ada36c5b689464e5c6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision.obj
@@ -0,0 +1,11610 @@
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_0.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08bff3e50d659793fc76664c3433468177c05fab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_1.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e5c147263c649e3d6635975c0ddf131a813f8d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_10.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364ab1007838d6dca36bd295258bc57994029bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_10.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_11.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971bfb61a1355a04950ab0b92e23a40799a3d7cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_11.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_12.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a992bdf5f42d5e8961db8fce6057c3172ab10cee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_13.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc19e6c01ff9f8db42ed786cad3abf671b8dbf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_14.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3382b7f2696dd94ba63424456dc63430908f893
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_14.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_15.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71427ed9047e0f0f3a6cd4c91a4a88b3c5edd229
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_15.obj
@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_16.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b088c72d84cb0bf62d17904496313bc5e9d9a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_16.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_17.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa34aaa975924f43d68887bd1bb16cc1c0167c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_17.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_18.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f2ac07fb199480e22a3cf063cc9c38ae1399d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_2.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4802b976cdb461a6436152790f6f1d445f2bcd76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_3.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96052e909c6de78bb8c37db1013114413d9c5db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_4.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61dfaa4040326f764fa9ee82808a3652ff13a885
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_4.obj
@@ -0,0 +1,754 @@
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_5.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..081fd3586323da38f167a224ee1391248e8613f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_5.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_6.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477ce4ccc9fb82f98e194914902476fb2cc5cace
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_7.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb85e71d900aca9e1a797114dd79764118f0f62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_8.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975c9a182cc296540f969720af7d11431a0cec68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_9.obj b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f981dd56811a7255efe4dc7c0dc606206e7aa1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mjcf/mesh/coaster_040_collision_9.obj
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