diff --git a/.gitattributes b/.gitattributes
index 958a845f7d4cacba722204ee5b9e7f8925ff5e22..9afc61e7881df27c039533339d521a7b42ce40f5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3870,5 +3870,5 @@ dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/mesh/fru
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dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_knife_027.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/mesh/fruit_knife_027.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.urdf b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.urdf
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808cb28b936030860d1d0dfe664ecab519cdde1e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022_collision.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22313a1615c388d8d6c29af3f3ffa53682819f28
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022_collision.obj
@@ -0,0 +1,2940 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bac56974cd45a40b82b35930d6f8b9e07772ea2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038be7b8f58ebe633455a40351b4e9419b2aea4ee541d14349e900180a9f481d
+size 12901477
diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54b6721f13dc5fce96601a4044eab3a559e72470
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bac56974cd45a40b82b35930d6f8b9e07772ea2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038be7b8f58ebe633455a40351b4e9419b2aea4ee541d14349e900180a9f481d
+size 12901477
diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/fruit_knife_022.xml b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/fruit_knife_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ddcd5f66d4812dabf5141a9afe4e06ec1b5f326
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/fruit_knife_022.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f51179db64894ea5ac7a1dcdba28a6bdb09a65
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022.obj
@@ -0,0 +1,110310 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_022_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846e435d9a68e15af9b563dca16360442192e6bd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision.obj
@@ -0,0 +1,2940 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_022_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b4478db022011f2d015cda29b438893d8ed483
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d19e68bf873ad18e9dcd66e1403ed7794b586c4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d5229dfbdf54d69f4002a04d77ade7d2c7feff
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2bcff115abb6de425800ca2944b4f611ffb4af
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision_3.obj
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