diff --git a/.gitattributes b/.gitattributes
index d45d65aa2c1c86e8ea53d32f6ea7b7abfd8a7b50..430646d089d50e38eb19422d52f06b0445d58cba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3928,3 +3928,5 @@ dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/pee
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dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/fruit_knife_021.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/mesh/fruit_knife_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/fruit_knife_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/fruit_knife_037.urdf b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/fruit_knife_037.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037.obj b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037.obj
new file mode 100644
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037_collision.obj b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05b2b9cb8dfcc63791ec4e3cdb698a09e602a8f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8488c1657c9004f46b49034b7192daffd050454
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2204206355b8a31634da953ce5bd4814c8af713ee1ff4a0c7a2b885bbfd41d3
+size 9404533
diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dfb0ecdd02a33828b4e2aeca87e69e1c6741883b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_037_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 fruit_knife_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8488c1657c9004f46b49034b7192daffd050454
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2204206355b8a31634da953ce5bd4814c8af713ee1ff4a0c7a2b885bbfd41d3
+size 9404533
diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/fruit_knife_037.xml b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/fruit_knife_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f580207c7586829635b7f58d14dd0753f940f9e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/fruit_knife_037.xml
@@ -0,0 +1,18 @@
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037.obj b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87b7b12df54d2ede98e668b89035c939e287f86
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037.obj
@@ -0,0 +1,105738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision.obj b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84a8db8a736f12e5532b77083e58c5cf4c5e683
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision.obj
@@ -0,0 +1,1861 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c6901d2a5f4e1b2b6eb9f2d2f6c0103313fd01
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96905da4d4e9de949219f066eeea63bed3e6c589
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mjcf/mesh/fruit_knife_037_collision_1.obj
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