diff --git a/.gitattributes b/.gitattributes
index 75f70b9103cd4e8b6395be42839598d12545a4c2..a2d506a0d9c901d673e1fee584efe400bfb1dc2b 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/b546b1f2ecb95e1290213bcc99af9a39.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/fruit_knife_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/fruit_knife_006.urdf b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/fruit_knife_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e2258b2f3c7aee945219171add46f26087c49e7
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006_collision.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3231f6cf9054d3c7f25f36c294f322c73c3f8958
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006_collision.obj
@@ -0,0 +1,2819 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbe40d66e293584a4c1ccc3684b72c9aea4f7432
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873158ba3e4faa91e984f0ba06ebe57a7b478f16e8b66fbf9d406e93ade8a7a0
+size 7195450
diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c0036d132a82ebf8b4aa6a2b6c1f16e85a19a74
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbe40d66e293584a4c1ccc3684b72c9aea4f7432
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873158ba3e4faa91e984f0ba06ebe57a7b478f16e8b66fbf9d406e93ade8a7a0
+size 7195450
diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/fruit_knife_006.xml b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/fruit_knife_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f65b0e2f43face57b250496d205741c30b75b26
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/fruit_knife_006.xml
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+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8670f8fbdf024f56fb36ab1ff40d75777c93bfd5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_006_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb54b12338d66268855ef1de4cc6cd501dc06c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision.obj
@@ -0,0 +1,2819 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_006_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b955bcfa62b6090ec640c2b0eccad1bbc5bc4ad
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25296a56c573a2fa6f0ecba47aca558362e1a46
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_1.obj
@@ -0,0 +1,1741 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053bda8de802fa67b679b911f2dfa766cef8a153
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mjcf/mesh/fruit_knife_006_collision_2.obj
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