diff --git a/.gitattributes b/.gitattributes
index 728de83585830633acef53b2a086d8e795dc65a0..176eefad40f38939f596b5313c9d6d8639fbd9e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3882,7 +3882,6 @@ dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wir
 dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/garlic_press_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/mesh/garlic_press_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/mesh/peeler_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/peeler_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.urdf b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a86d78817aef00910174ad4b1062ebea1c37c20b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_cutting_board">
+   <link name="wooden_cutting_board">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_cutting_board.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_cutting_board_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.342074</scale>
+         <version>v0.1.7</version>
+         <category>wooden cutting board</category>
+         <description>flat rectangular wooden cutting board with smooth edges</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20260120122618</generate_time>
+         <gs_model>mesh/wooden_cutting_board_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.208743572235107</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.usd b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d87d74540df30bd1792e0661096a7585da336b18
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/8c159efea30850d8bedefc1dd3eeac54.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e89a294d10cf1120cc8c00a9b6b859466b960a9a9322426d69cd6b0f83857bff
+size 426382
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffab0280f450892c83308733b84e1d4c6b862f0c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b739da278e56be23eaa22d0221213110f7efce3a17b3ce5ca03c906ff0236113
+size 1966826
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.glb b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.glb
new file mode 100644
index 0000000000000000000000000000000000000000..62b6c17143a2653ce4627bbf6f9e5c65774da74f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7cb6b43b8868876791156fafd627dadb8eb9f2e8ff87d2c25199a37b304db2
+size 2254280
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00506e612439ddaa9fea84541015a5897e7abf2e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board.obj
@@ -0,0 +1,26216 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.02032679 0.01533683 0.16903916
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee23b2268aa10c86861537fb779dba47d09e4f33
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,6240 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.13959134 0.01328291 0.16637730
+v 0.14405001 0.01339751 0.16472196
+v 0.14658872 0.01516238 0.16382435
+v 0.14658872 0.01584999 0.16382435
+v 0.13959134 0.01423028 0.16626461
+v 0.13959134 -0.01163537 0.16333474
+v 0.14366480 -0.01163537 0.16171826
+v 0.14618531 0.01184656 0.16363783
+v 0.14834792 -0.01163537 0.15928187
+v 0.14879985 0.01339751 0.16223507
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_gs.ply b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..63e4c505033c476ad9dd7a064754b42fffc85159
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mesh/wooden_cutting_board_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dc43b1ce69590ddb60993e4ae041463157043c06e2dc5d4efb3c651c7c7f07b6
+size 2683209
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/8c159efea30850d8bedefc1dd3eeac54.xml b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/8c159efea30850d8bedefc1dd3eeac54.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e42e3160b7d283824aaed226fcb3c30045fae93f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/8c159efea30850d8bedefc1dd3eeac54.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_cutting_board">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wooden_cutting_board.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wooden_cutting_board_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_cutting_board_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_cutting_board_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_cutting_board_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_cutting_board_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_cutting_board_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_cutting_board_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_cutting_board_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_cutting_board_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_cutting_board_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_cutting_board_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_cutting_board_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_cutting_board_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_cutting_board_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_cutting_board_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_cutting_board_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_cutting_board_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_cutting_board_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_cutting_board_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wooden_cutting_board_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wooden_cutting_board_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wooden_cutting_board_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_cutting_board">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b739da278e56be23eaa22d0221213110f7efce3a17b3ce5ca03c906ff0236113
+size 1966826
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ea3aad6dc3d6d471a7b92daf9b8c3c90dc33fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07beefad05985bcbb4d1c4d19d3e2212913b5f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,6240 @@
+# https://github.com/mikedh/trimesh
+
+o wooden_cutting_board_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ec4505324d80c5a9a0ea4da9c3f43fcc0f88f8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f83f350c6afefa075f95bd1a22a9a291af84039
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6befbeee6cc298490d25aa17760f5d146c23d6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_10.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b5e23e79bb63203768b33182ce57c734e0d3b4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_11.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2959d35b405e6cec384c60642ecec70c9bbc8139
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407bce84151391c8f84bcd1fa2799ccf9d1e61ca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_13.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5f52c1826d596a209386b2e1d8572d5c8ee7d7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_14.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f93f83eb122b8d2d6f3d9bebae31220bcd0572
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_15.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.13312009 -0.16812757 0.01324052
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13818939ce3b26552d4ce9b16c2f896c20bf967b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adbd9a94b020d372a445427f665e61e6bbd2cba
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_17.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fdb57e4f62ced68f7ca24b2f89e4e75084abb3a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_19.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..389fe7d35d89333980d47c641321305b0cea9ccd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5e9fbf25e00d085780ecf007be9651d78d75bb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_20.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c955293412653e6ad8147512fab8a407d402d788
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_20.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.13232666 0.15210809 -0.01371843
+v -0.13232666 0.16476134 -0.00753463
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+v -0.15705635 0.15241669 -0.00753468
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_21.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb5303765a7a65f754a9f39b1b36a045ce1a22f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_21.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.12665458 0.12110423 -0.00571272
+v 0.12665458 0.11546578 -0.00570256
+v 0.12665458 0.12680888 -0.00569232
+v 0.12676258 0.12680888 -0.00569232
+v 0.15292359 0.12680888 -0.00561847
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+v 0.12665458 0.01408413 -0.00542790
+v 0.12665458 0.02521758 -0.00546351
+v 0.12665458 0.12674262 0.01084749
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45a56e16360be7af0d8a3c42c1bb23a24fd0a98
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_3.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.00299633 0.13233911 -0.00585128
+v 0.00299633 0.13233905 0.01132709
+v 0.00304703 0.13233911 -0.00585128
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2fc64684b8cd17a61b4004a4df9b2561c3ca916
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_4.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.01406838 -0.16094324 0.02087088
+v -0.01406838 -0.16411996 0.02080580
+v 0.00299992 -0.16094324 0.02086705
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132271f621ca270d4db18e3602c5cccdcc037224
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcad4d3012b62cc71185a4c305bb92eeef070cbb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_6.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ba8b14de4e41c009df7c033f3cab088b2c383d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_7.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.13958831 -0.14524238 0.02069556
+v 0.13958831 -0.14524228 -0.00542190
+v 0.13958831 -0.14509568 0.02068524
+v 0.00299992 -0.14524237 0.01798557
+v 0.07605385 -0.11984384 -0.00562809
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+v 0.08732480 -0.11984384 -0.00558426
+v 0.09295360 -0.11984384 -0.00554558
+v 0.12112428 -0.11984384 -0.00530578
+v 0.12675306 -0.11984384 -0.00523874
+v 0.13239523 -0.11984384 -0.00513302
+v 0.13802402 -0.11984384 -0.00499379
+v 0.13958831 -0.11984384 -0.00492417
+v 0.00299992 -0.14524228 -0.00562303
+v 0.07043843 -0.11984384 -0.00564356
+v 0.07444945 -0.11984384 -0.00563325
+v 0.13958831 -0.14330299 0.02021338
+v 0.00299992 -0.11984390 0.01140279
+v 0.13958831 -0.11984390 0.01176636
+v 0.00299992 -0.11984384 -0.00560231
+v 0.06480964 -0.11984384 -0.00564614
+v 0.13958831 -0.14236065 0.01993491
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d37be8296219955e37aee8c83ad09102266eae
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_8.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.15491558 0.00832731 -0.00614693
+v -0.13232522 0.00831571 -0.00545709
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+v -0.13232522 0.00831571 -0.00534212
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+v -0.13232522 0.12677549 -0.00535213
+v -0.13232522 0.12105889 -0.00539658
+v -0.13232522 0.10417583 -0.00546458
+v -0.13233628 0.00831565 0.01113833
+v -0.13232522 0.00833884 0.01113833
+v -0.15491558 0.02522188 0.01992344
+v -0.14926080 0.12677540 0.01912945
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+v -0.13232522 0.07034006 0.01125615
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+v -0.13232522 0.07601027 0.01125617
+v -0.13232522 0.08165728 0.01124313
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de1879077bbe3fb5187e3b605e263b1bad6407a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/mjcf/mesh/wooden_cutting_board_collision_9.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.12665459 0.16509402 -0.00698807
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+v 0.12665459 0.15027990 -0.00698813
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+v 0.12665459 0.16501909 -0.01163717
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+v 0.12676364 0.16419464 -0.01574064
+v 0.12665459 0.16421338 -0.01566157
+v 0.12665459 0.15543283 -0.01659031
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+v 0.13240071 0.16059699 -0.01776064
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+v 0.12676364 0.16059699 -0.01817377
+v 0.12665459 0.16419464 -0.01574286
+v 0.12665459 0.16059699 -0.01817599
+v 0.16056095 0.13239280 -0.01769949
+v 0.16669295 0.12681267 -0.01649464
+v 0.16949891 0.12681264 -0.00738798
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffab0280f450892c83308733b84e1d4c6b862f0c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b739da278e56be23eaa22d0221213110f7efce3a17b3ce5ca03c906ff0236113
+size 1966826
diff --git a/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/video.mp4 b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45bf68cf5c4d0a421993a94e1dc5f641278111a2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 283059