diff --git a/.gitattributes b/.gitattributes
index f9a25d84f223ca9dd68d8e768f7cb39e715cb373..b2a21df6747733f158620ea7e254f2fe6680b405 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4092,3 +4092,6 @@ dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/mesh/soup_sp
dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/155dd76e7f4f51e29d25a28d7167e964/coaster_032.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/155dd76e7f4f51e29d25a28d7167e964/mesh/coaster_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.urdf b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3deefa4f2b44817596c932e9f322833b0d6d8fd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.urdf
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+ mesh/green_napkin_gs.ply
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.usd b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a99d5516fc68a031b1a125e7bcdee5133d159de9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.usd
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.glb b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.glb
new file mode 100644
index 0000000000000000000000000000000000000000..518abcfabd13a6ee76ef1b8f09bb7bf3b6d8ae61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d639e6933c2098ff62a7cdbcad8ad266b485fded
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+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.obj
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270eedc2a003b9580d726c0856ed93193d3be326
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_gs.ply b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2af8fb2e537c9049f0031d34895704479a7da3f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724106caf8b3825d5ee434dbe4ae7a2b13f133eb69662ef1fc465fb88073bdec
+size 1739945
diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/material.mtl b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/material_0.png b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/17b440cfc2875010b7b71bce161293d6.xml b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/17b440cfc2875010b7b71bce161293d6.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7cf505c78384be4ae3af2c659d02a81c2659c74e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/17b440cfc2875010b7b71bce161293d6.xml
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49062c5948fbb83d545a92eb7197103f3281734b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011e285d891537df1a656e46156a985d82a4656f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision.obj
@@ -0,0 +1,4737 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab6caf59ab4bd0db19365ce920776e4ebdde1c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6266d0545ae0c743ae25d79669fb50466606c0f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_1.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f7a4977a6630b54e1f6d1626daa711a593e8174
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494549ebd6d1d8cfe0a212a19b2b82f97be4fc2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_3.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c2ba36f34dc98a19ff7cb4d172810470d979f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_4.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d83b392636ea5434e84073b23d86f473ee5b678
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_5.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af13a0358624bb60a44838ec2d80d7ec8d905d3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_6.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_7.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63fe0f4f0c1ae98bfa759f7374494fc1993d1685
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_7.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_8.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3a792d52c301a9e80e9441c9e2b54fb35de9e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_8.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_9.obj b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac76122d88dec9ff2cd70cdf0bcbe7b01a608a9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/green_napkin_collision_9.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e157fd1b0b3e84f0dc33db3d79438f2ca187a7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1185295
diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/textures/material_0.png b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e157fd1b0b3e84f0dc33db3d79438f2ca187a7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/video.mp4 b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9264d7d37ca702df7a2102ee86eac0d537aa679
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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