diff --git a/.gitattributes b/.gitattributes
index 63982d2953a0cedc9e99a39919e7eaf8364a7bae..08ae13ef07b53619fbce3b344301ee42cea502bc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4048,9 +4048,6 @@ dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/mesh/storage_b
dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/storage_bin_098.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/mesh/storage_bin_035.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_035.usd filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.urdf b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96912cd941219b589e6ccd5df848b1c0baea99dd
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.usd b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8a1a334ff38b6fb896eb54ee53109c085df3244a
--- /dev/null
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@@ -0,0 +1,3 @@
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+oid sha256:9cfd2bfa4ee47246d9c1dac11b48649a131b8880da24a82e57d42bae1b6ab060
+size 385589
diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/material.mtl b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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+newmtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/material_0.png b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.glb b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.glb
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 2376456
diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f96cc4ee5ec58da5cc68c15ed6a5721fb65ea5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.obj
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+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb3cf9fdcbfc3d870e4328febcbd9443672e0fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,5676 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..81fc5957b2b5e9d514681a8ad1b3d3428c6d895c
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60bb319e9a497304807cba36f6df2da3cb9c621b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,5676 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b5308f7553cfe22e131a4bcfac3eb5b0ede19f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56757efd415dd212e04c8c229c8fb232a4f86dda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f73c297ec752036d1b927c7fa46c8873c8e0570
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c398a2b151dc52abbcd1776ae62148a45bfb77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_11.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.05318608 0.02363311 0.00292366
+v 0.05418321 0.02363309 0.00729057
+v 0.05322991 0.02363311 0.00207239
+v 0.02469139 0.01612836 0.00726968
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+
diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42c434777759557709bc9c891ddf8a1f63f32e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_12.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.14511149 -0.02830692 0.00539837
+v 0.14511149 -0.02830687 -0.00866964
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+
diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_13.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb53343ba7bdd9860b5b04395523ab0b005e0a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_13.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.10818092 0.02927137 -0.01918182
+v 0.10818092 0.03026130 -0.01874503
+v 0.10874404 0.02927137 -0.01916232
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_14.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d41c46190b8270832813ddb3e2ab1ecb0246bbfd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_15.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e419b5d53ac32aab7b01209afb0a97b5aa3ee08b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_15.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38212108287470b6a7bc2a06d2d66b74d802c3b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_2.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..001b09b4863d87d2ef9548a7b6168125ff8e9828
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_3.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49db4f78e86c76596bd2462b19bfe6a12458447
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_4.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f82a3be41c53c0cd24e9943d7dff2165661ea2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf45b16b276d05e41a0f883088af968a3c765da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_6.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f25885d72b867fd60066fa8ae172960c03d35d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_7.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40779e2e4ea7b2b66c6eedc5761fcd1fef41b9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_8.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065aeff09fe67039f03c3de74616980c90c53c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mjcf/mesh/wooden_spoon_collision_9.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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