diff --git a/.gitattributes b/.gitattributes
index 06080492682c0789da98d8c6031a8941d9e1ae73..d66bb39c27735cd224e56a95e0a89c04561574a4 100644
--- a/.gitattributes
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dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/coaster_015.urdf b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/coaster_015.urdf
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015_collision.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85078131ec413c47c7a7aa3b964b456e4fc1a791
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015_collision.obj
@@ -0,0 +1,10071 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fed24675602e196edd8c08466b93ffb0e55a419
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b49ef12aa71127150729116906b63eb317410243cbdaf39bb429cd17d988050
+size 11623216
diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49a9d1b92911cc14ef501c205a08ea5dbf35a1eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fed24675602e196edd8c08466b93ffb0e55a419
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b49ef12aa71127150729116906b63eb317410243cbdaf39bb429cd17d988050
+size 11623216
diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/coaster_015.xml b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/coaster_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a64eee61953b2201515fe664f91c61f22ab77eb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/coaster_015.xml
@@ -0,0 +1,22 @@
+
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ae15e6818efd3d0d00402bc9df31ecc97d79101
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015.obj
@@ -0,0 +1,114032 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14ac0ac1deabba5745284c7da74225f6946dc16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision.obj
@@ -0,0 +1,10071 @@
+# https://github.com/mikedh/trimesh
+
+o coaster_015_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_0.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..521614f0265a51d1970b5caf53f3e26c9fc20cd5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_1.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ba3bbbfbc416e706002385009f81fbeefd8a18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_2.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dffe21fa14438d438384c6a56f275f39491fbdb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_2.obj
@@ -0,0 +1,2476 @@
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diff --git a/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_3.obj b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8b9d2045bcb90257653b642704118b9cd7f62d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mjcf/mesh/coaster_015_collision_3.obj
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