diff --git a/.gitattributes b/.gitattributes
index 8305d5cc462afd57701a9978847a2cddb458f398..958a845f7d4cacba722204ee5b9e7f8925ff5e22 100644
--- a/.gitattributes
+++ b/.gitattributes
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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
+dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/fruit_knife_040.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/fruit_knife_040.urdf b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/fruit_knife_040.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61151ded2ff297cb2acbf1079787a9a931b90db7
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+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040_collision.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeeed71ab30c0859e4ea22083a54fa6af00c26a6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040_collision.obj
@@ -0,0 +1,2489 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..65a0d15f9ec78c13f440676ee3adbad11b3d24fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1cd32707726460877e79827ac9828277ffed0a142f60d28b3368f729db7039e
+size 6030988
diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1e4c16c846f50d83c1984bd6ec76d442b1f1d687
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..65a0d15f9ec78c13f440676ee3adbad11b3d24fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1cd32707726460877e79827ac9828277ffed0a142f60d28b3368f729db7039e
+size 6030988
diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/fruit_knife_040.xml b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/fruit_knife_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2cb2f32d0ed140e87543da274baec3a3e6803577
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/fruit_knife_040.xml
@@ -0,0 +1,20 @@
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c8ef2088ea0cbbef0c6db68d21486d3bf9c214
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040.obj
@@ -0,0 +1,108396 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_040_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcc6844495a1564bdab6533ee10113dc17cca42
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision.obj
@@ -0,0 +1,2489 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80990f2d11a56730baf63f9142d0e2bcdf27d2df
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f45c312165e927e858c2fe651c29a4544633dd88
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mjcf/mesh/fruit_knife_040_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/video.mp4 b/dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/video.mp4
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