diff --git a/.gitattributes b/.gitattributes
index b4004547f17b91ee1a4077d2d55d8f80d5108d04..95c4c6c0afd446c5895c9f568ed82a8df59a51f1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4157,3 +4157,6 @@ dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/mesh/coaster
dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/mjcf/mesh/coaster_005.obj filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/fork_017.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/mesh/fork_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/355958e54fe25c9e97d61ef37444ecaa.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/355958e54fe25c9e97d61ef37444ecaa.urdf b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/355958e54fe25c9e97d61ef37444ecaa.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8df8388293625057ab96146d7da006c121c20657
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/355958e54fe25c9e97d61ef37444ecaa.usd b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/355958e54fe25c9e97d61ef37444ecaa.usd
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate.glb b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3077f0b02c21d89b3968f71bd569df9189431d78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_collision.obj
@@ -0,0 +1,6144 @@
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_gs.ply b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0c6ca7a9bdfd7181e42ee5ccacd362dd7ac7e4d3
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/material.mtl b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/material_0.png b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/355958e54fe25c9e97d61ef37444ecaa.xml b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/355958e54fe25c9e97d61ef37444ecaa.xml
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate.obj
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b07d76229103d1c9091dc708ce9b0bc8ce9063
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision.obj
@@ -0,0 +1,6144 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_plate_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_0.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132fa270d18562fcce0ddee2c4d8b46d204ceda5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_1.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dfbaff46533116317ffef884977dafc10b23548
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_10.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e98e2c3f7899d64a4bac19e603f3b825e0b0bb0
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_11.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff4e94e2095b2197ee59418f494f84b9d43a458
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_11.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_12.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e286370b25bf00ebd52e63b98c7398e3fe55dc45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_12.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_13.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cde7513ff9a92f2d04440ba9f58b2cdc77f18c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_13.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_14.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f58e844d3597a57f4aa5587e862b055b1b08be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_15.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..241ee2dd942c4a1857c7986f053d351d2adb3caa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_15.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_2.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a7754b193470d2bbf5caab7b83dcfcb63f4230
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_2.obj
@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_3.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f94232e458b202a703bbf8ee16ae460114bf135
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_3.obj
@@ -0,0 +1,724 @@
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_4.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a574c67c388218d864d3f67089c7e5a66ad8629f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_4.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_5.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a7f542e253f906f00984ebdcb375235ca0f6f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_6.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa29b1891da190fa86faf35c94f92aefcb8925be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_6.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_7.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f065f6d326b1ebaa647e6d1cd835fdfad8cfbb05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_7.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_8.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7faef29d939d29133925314e556d1b4666c3e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_8.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_9.obj b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9ea6c49cfae4ec14cb7c53efb8029507fc3287
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/fruit_plate_collision_9.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfba1016064caf339a2892f86e651d3135734f60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0400633e1b421cce29ce772215470bc3d69337cb63befe3d0794bd03b974ed4
+size 2460873
diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/textures/material_0.png b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfba1016064caf339a2892f86e651d3135734f60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0400633e1b421cce29ce772215470bc3d69337cb63befe3d0794bd03b974ed4
+size 2460873
diff --git a/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/video.mp4 b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37fdb050c85e21c29731735c437ea3d85ffb0d47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:866ca3c2e202fdd73b33c369fe351249267c46ef82be19bf9eb18a1d2e973652
+size 207210