diff --git a/.gitattributes b/.gitattributes
index 709b3e9d02b98e9a276d5a9a5640b4cd331a56e1..bc0643a9bf9d58b561fca99bf27981417524673a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4334,5 +4334,5 @@ dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/mesh/fork_03
dataset/kitchen_supplies/tableware/b72a9b3d36355cc3b6e7d7ab612feafa/b72a9b3d36355cc3b6e7d7ab612feafa.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/b93b7cf19e17593889c731a02e895f69/mesh/spoon_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/b93b7cf19e17593889c731a02e895f69/spoon_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.urdf b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73b1bf0d6cf113a0832cade07080b168eb669e03
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.urdf
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+ affordance/affordance_annot.json
+
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+ YES
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..06422d27a621c3bc5b16ff4caa977f0fa9b34209
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd
@@ -0,0 +1,3 @@
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+size 4944275
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.mtl b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a30d501cbb23fb05b56219a44d150a180747c274
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.mtl
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+newmtl fork_006_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d4c4492ce3b8f291d2b2ecf35cc5a18d7593e8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006_collision.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534502573a0b60f34ae35f4624d1584c44e74326
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c14df78a34c4865e3f7328bcc1b92954807f1c79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3211448cc0be210b975c4353cc20c859e46a5b5a8de228ef7bf9ea27b169f7
+size 5948681
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60cb53de4ab580a1ff48df500f6e948dd6e45535
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material_0.png
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index 0000000000000000000000000000000000000000..c14df78a34c4865e3f7328bcc1b92954807f1c79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3211448cc0be210b975c4353cc20c859e46a5b5a8de228ef7bf9ea27b169f7
+size 5948681
diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/fork_006.xml b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/fork_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3ba073419e9815419da5f5b0853a023e064244aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/fork_006.xml
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b6fa5ec415e7f14a00cf5d7c9a3404c253a7d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006.obj
@@ -0,0 +1,104324 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400aa49bf3fa6e1a0e218354bc9d6cfc488a680b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision.obj
@@ -0,0 +1,4686 @@
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_0.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9362d7848f9da397ac24d628a3c79fe3d3556ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_0.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_1.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f24554a136f7c492ae7e04c0a451bfb70e6aae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_1.obj
@@ -0,0 +1,2227 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_2.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d53fc54c34bf4935f63fbbaaa4210346cad3dac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_2.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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+v -0.03416599 0.00960015 -0.00097382
+v -0.03416599 0.00938610 0.00006085
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+v -0.03112747 0.00957585 -0.00097382
+v -0.03112747 0.00947958 -0.00238225
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_3.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e4a03801c73897d6e367aca86a6511452374a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_4.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f1f65fd7ed4e52a43fbb634bb699dc1abb2e6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_4.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_5.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d25a2071a29935d62d539adafb08683cb4b2ea0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_5.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_6.obj b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd9ebe64ab19db705702e2b2b67ac9e08bb41c71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c14df78a34c4865e3f7328bcc1b92954807f1c79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_geometry_Looks_material_0.png
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