diff --git a/.gitattributes b/.gitattributes
index d64589896f5ec0f3cd3424ae0030957cd34816b6..7dc5a00c7e3f5a5c838b89accf7a23328f8ab5e5 100644
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dataset/kitchen_supplies/tableware/8e46391e2d875ae9b302708b672b403e/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/8e46391e2d875ae9b302708b672b403e/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/8ba3eecfaa6b5188823d81f9a9147ea6/coaster_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/8ba3eecfaa6b5188823d81f9a9147ea6/mesh/coaster_014.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/8ef98dc5d3b156dd93215e7d0c7cd53e.urdf b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/8ef98dc5d3b156dd93215e7d0c7cd53e.urdf
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/8ef98dc5d3b156dd93215e7d0c7cd53e.usd b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/8ef98dc5d3b156dd93215e7d0c7cd53e.usd
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate.glb b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate.glb
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b1b9f11f661c0f77e2146e831f0c17c41056766
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate_gs.ply b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..15513c818a71d66ce5075b7c9f42217633245c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/fruit_plate_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c87dc532d769926cc8fac17ece0a769050b584561fb5b6278780052b83400ea2
+size 1699177
diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5715eb5498446e953a86da1ce73b0336c81f2382
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5ca80eb43e182234815621da5b97f9fe556fbfe70e5c5369370d25c742063d
+size 674255
diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/8ef98dc5d3b156dd93215e7d0c7cd53e.xml b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/8ef98dc5d3b156dd93215e7d0c7cd53e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0c4c91784652208dae69f54f4deb0d587f9e689c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/8ef98dc5d3b156dd93215e7d0c7cd53e.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c6d069f8b9f137c6dee46c5e75500279b2a9615
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate.obj
@@ -0,0 +1,18448 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.165473 -0.076749 0.014495
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760261a1e7a530c36a128317f5641c5a635804ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision.obj
@@ -0,0 +1,7308 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_0.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2eccc9e9123e511999904897012e2b7ed2d83dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_0.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_1.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c969509aabf928cfd23672860c22ef6794db88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_10.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b124bcc9e96310f86e334f216d1560f274e4ada
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_11.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef24ec618dfdb6902da736f3334ee5d8012a9bdf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_11.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_12.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fa61ba87b5a3aed590ac3e0c9dcd6a2a8dbfed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_12.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_13.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e59f9b4b524de2a502f0ce025a49e1bdf5d503
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_14.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c30beaef4d1645db5e8896ad4f93fd707ec6148
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_14.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_15.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50582229815012d34bdfd86840e07cb788f8421
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_15.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_2.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206605386d22f82f3e7dbee9c05362dfa99fbee4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_2.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_3.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ea900e560f22674c0af7584cdf9e32c28c8d7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_4.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f024a8b54e5acc5841b7ec303bb5949003417f0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_4.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_5.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711a1f696c46bb5c85c8f7b926b28887063ff5a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_5.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_6.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795bc6f697ef0c08f1bdc066337da1abb2748ae0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_6.obj
@@ -0,0 +1,766 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_7.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5875051f2e29ac4ae8ad0cd05957d2318f9ac2c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_7.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_8.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3404abf9be69b681b8755047e09bd363826db181
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_8.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_9.obj b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b978be498ea0a7e7910d41c15f2b8fcef67c5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ef98dc5d3b156dd93215e7d0c7cd53e/mjcf/mesh/fruit_plate_collision_9.obj
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