diff --git a/.gitattributes b/.gitattributes
index 915990b7606874901d6f6420a471d9d0764002eb..4c1327cd895752f3adf0608860ab379952e6d778 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/tableware/5991641d6a43525ebb1ad9bc2ad73db5/mesh/chopsticks_014.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/coaster_033.urdf b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/coaster_033.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/coaster_033.usd b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/coaster_033.usd
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033_collision.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37891cd8a1dd0e8df5c3d530cbce3fd3e58e8513
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033_collision.obj
@@ -0,0 +1,13133 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bbe851d9af0d6630043ac1a044ccb8b1a613afa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/coaster_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29a85fa32db5410852145318f3328a2757a28734697342fb059cc11e173ada5
+size 11514835
diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ad3dae3916b0410b3c2a569d8386e6a798cabdc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_033_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd coaster_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bbe851d9af0d6630043ac1a044ccb8b1a613afa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29a85fa32db5410852145318f3328a2757a28734697342fb059cc11e173ada5
+size 11514835
diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/coaster_033.xml b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/coaster_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd93ffc1c21cf7046278fc665de801a8eeb660c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/coaster_033.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb15f2742ff1f292e624af6e7ebd08713429597
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033.obj
@@ -0,0 +1,109154 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d82e3fc9d956aff2b940d6e35e57abb8bdd1e43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision.obj
@@ -0,0 +1,13133 @@
+# https://github.com/mikedh/trimesh
+
+o coaster_033_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_0.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c36000fb843f5dccc0974c2d8b35886e3af377
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_1.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7292c705948891a1a05ad148257d8d019696d29c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_2.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53c0193d88c5de1d21eb435b0cf86a2b0a93641
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_2.obj
@@ -0,0 +1,886 @@
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_3.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660acdde1a962993e84606a415f1339b5dde76d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_4.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ac74fa682cf75eb2d19506f6cffc2db32a429b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_5.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688438f804da71a870b9d8dac58a26ddec4f1860
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_6.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ecc868b37fa2e80c354d518d25957d0a875d13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_7.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1141f255f0a01a6e1dc2515044d2857040444a42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_8.obj b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435452a7fed6c729d39acf9a0eabee339d99d4e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/mjcf/mesh/coaster_033_collision_8.obj
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