diff --git a/.gitattributes b/.gitattributes
index 2cbcbf2fe618ed7a8f4741429da2eaae3f207fe3..86c7d8e9169e00f7ff9ae4f4e33ef2a06e8cbe01 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4199,15 +4199,5 @@ dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_0
dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/mesh/plate_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/plate_034.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.urdf b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3aab616f94ead15c7f23402019edf777a5e78991
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.usd b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.usd
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.mtl b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.mtl
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bccc3df458f1015e7aadd2641b5fe263e325b80
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+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.obj
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020_collision.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2d2c66aa84661a19b1ffc25812b00c8c1f9b12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020_collision.obj
@@ -0,0 +1,5782 @@
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bee4ee95238ef1eedbc6b43f87885a118411884
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8364426
diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/material.mtl b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f1b9e496a988d77e614e7175f17f12414c360c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_020_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/material_0.png b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/material_0.png
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index 0000000000000000000000000000000000000000..0bee4ee95238ef1eedbc6b43f87885a118411884
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d2a822c045a5c4b49455a6500e0dbb418de3ac4e6c940c778a179c2aeb4c19
+size 8364426
diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/fork_020.xml b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/fork_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01b5f83073884203b78d8cf24c5c4298651c9895
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/fork_020.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ed6e66cc3d927889b3e99bb87e40b813849e121
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fork_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f351244d26b48aa10711bfcec485a9701128eb9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision.obj
@@ -0,0 +1,5782 @@
+# https://github.com/mikedh/trimesh
+
+o fork_020_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_0.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ace3f4e38f14f6277f588b2ad77625c57370092
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_1.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a8c71b65d57b423bcbb4f09a5773dd2e278924
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_2.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b81d2feecf0c114f74034745ead19905672088
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_2.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_3.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2681dd7a5e849dee3909d7621bb53cb80ec81a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_3.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_4.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5bcc0d05197f8de4a9bcc163a4082b5ed65ca11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_5.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122deeaa49b792adee3dabf2714e5e53fa582bce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_5.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_6.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8472c281c6dea3c023ba382fd790c16669a53c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_6.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_7.obj b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86f2550ae655d2346d378cee72907cd4bc18cc53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_7.obj
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