diff --git a/.gitattributes b/.gitattributes
index 3053322ceecebbf885ec6940a9e3084afb3b5169..c0450161f0a7d65c0b1626c983ad5c3f142e7ae9 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/mesh/chopsticks_003.obj filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/mjcf/mesh/chopsticks_003.obj filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/coaster_004.urdf b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/coaster_004.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/coaster_004.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/coaster_004.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/coaster_004_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/coaster_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c2f2dfdf42d6c165def928751a69e27f70d2e19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/coaster_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d28c8c706f0db701b7a105ee7abd03e39c149fcc3814072d1673215f8a28b2
+size 12727254
diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/material.mtl b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8f642362c269bdd2bcf5ca7b2d02cb491c8577b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_004_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coaster_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/material_0.png b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c2f2dfdf42d6c165def928751a69e27f70d2e19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d28c8c706f0db701b7a105ee7abd03e39c149fcc3814072d1673215f8a28b2
+size 12727254
diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/coaster_004.xml b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/coaster_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..10589a6ac3102627b3d108a8393b64405bc33d35
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/coaster_004.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e2bd6e94df4d1574ffd4a5b9296b99f0810af2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d814f98866aba6472bc644a1a1dbb9375c18d0b59c8669110a2e91098bacbe
+size 110031139
diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53a77924236bbb2e0b5483735f349c6ed269ec6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision.obj
@@ -0,0 +1,6159 @@
+# https://github.com/mikedh/trimesh
+
+o coaster_004_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_0.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7244af888933e4935eab0935918769044ada3e1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_1.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d13a88cf300312f20477dcab725504c197763c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_1.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_10.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba4dadda364c2de37255244385da592c93b82b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_10.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_11.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751fbd8ac88f636f97d29edea4f93d1ba281b7d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_12.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f62b6a5d3e35bfbe3ab59c71929ac2b8b9858d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_12.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_2.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c923a9ceb39dd033fe98ddf780ad1f3ba4342b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_3.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a03736595e3147efab491d4e619944e5888b195
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_4.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..092662b09f6dcf6c985d79bc5090519bd24dc245
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_5.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e5a0b02beedec87691a76f5813738baee8f669
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_6.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09063b7768115b961f6bd87b77c4796c2ab054fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_7.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5a5a8ed698aa8d2ffa23b5ab4d29ea49c97eba4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_7.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_8.obj b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b38119669275c503ac826c09e4432135e1c431
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/15fc76af092d553f9c03d92b138b3eec/mjcf/mesh/coaster_004_collision_8.obj
@@ -0,0 +1,442 @@
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