diff --git a/.gitattributes b/.gitattributes
index 1019271b66e097fd74176a9e5fc5b884523d52ea..7f26c32c7a2792ebbe18fa82c20eb889164cd724 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/fruit_knife_020.urdf b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/fruit_knife_020.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020_collision.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..874d61f92eb38ff84237ccb248e70c291aa8f3a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020_collision.obj
@@ -0,0 +1,2576 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..73cc6d47edf706817764895cabb2cd8604db653a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffcc344c1412f6599d4537be72044215cc1196bf663c415f2c1c1f060e4d0c0
+size 11773426
diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86070541f9d86ca8223a9d0b2d5aa428e8f9af2b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..73cc6d47edf706817764895cabb2cd8604db653a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffcc344c1412f6599d4537be72044215cc1196bf663c415f2c1c1f060e4d0c0
+size 11773426
diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/fruit_knife_020.xml b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/fruit_knife_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..434f6f1e90f50c068b3f420dd27f41cfeedbfa5f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/fruit_knife_020.xml
@@ -0,0 +1,26 @@
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a76fdbcd509ab3384867c43a6bff6a5885638aa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020.obj
@@ -0,0 +1,112204 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_020_geometry_Looks_material_0
+v 0.048444 -0.003700 -0.004000
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5eef3d5cb8d099a71b645b7e78c8492b5d497f4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision.obj
@@ -0,0 +1,2576 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcea3b78e36d736733e54ec0f2ca6c5d5e7d458
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_0.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d25d8ede6d15f6cdb90b425f532a09dec82e674
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_1.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f8170d7184502a57131c6ca88ce0b110148ca5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d1cbfd6925376c4358fa3a6b989a450e27dd47
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_3.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2debbb8ecf2c70d2f3bf7a1bff63537385f2a58d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_4.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202f3af720504129359b11d9f66bdbcd808072de
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mjcf/mesh/fruit_knife_020_collision_5.obj
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