diff --git a/.gitattributes b/.gitattributes
index 817df64f133f4d751919e392f016efda5edd4831..b46f272fd2f952600029b77f9865b76c97a8e671 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4422,3 +4422,5 @@ dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/mesh/napkin.
dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/coaster_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/coaster_017.urdf b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/coaster_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ee7f3ebefafb2c64929e1656fbc44ccbde1ddaf
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/coaster_017.usd b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/coaster_017.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.glb b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.mtl b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.mtl
new file mode 100644
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+newmtl coaster_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59bfd1539253f95b6d7420ba085048aafa4aed76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017_collision.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..603f343708a213cac0935b20eaf07c54cf371f79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017_collision.obj
@@ -0,0 +1,7805 @@
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04a39aacc110c95fd48e09839af9fec20bf11292
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/coaster_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0417bbeb1f3d5869587aa0446a8b6c17ede253f0203b3e31c55bd5231951f08b
+size 15828414
diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e56b34cd824984afc7ebaabf00a9df4e57ab6f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04a39aacc110c95fd48e09839af9fec20bf11292
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0417bbeb1f3d5869587aa0446a8b6c17ede253f0203b3e31c55bd5231951f08b
+size 15828414
diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/coaster_017.xml b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/coaster_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..10f7d91e139c33cf9553725be275816977f11b0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/coaster_017.xml
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+
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98fad5d1c953acc5816888f496abe332cd4ec15b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017.obj
@@ -0,0 +1,111366 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd915a9447ea52f41ea57fca74a7e268114cd4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision.obj
@@ -0,0 +1,7805 @@
+# https://github.com/mikedh/trimesh
+
+o coaster_017_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_0.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe0ebac9d7b4fb5198a8b8a4f2502fe73ba0c090
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_1.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793714b72e376e9963b31e2b1f897b7939a0b547
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_2.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c3bdd5ec50d33c23e1bd89e7910865e0f69f01
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_3.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961dfd0c0e0d1c040b5e7fa26411453f071630e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_4.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4375fa14bb525ebf5b96757073c57e0c1cf7a279
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_5.obj b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2957d988e6e892bcef20dce1c99d7da2453b31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/mjcf/mesh/coaster_017_collision_5.obj
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