diff --git a/.gitattributes b/.gitattributes
index 9f269d3cfb39bf4d04277255693e4f8ec626ee61..f426f5244d206a8e62652f213670e6ac1a7d3228 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3870,5 +3870,5 @@ dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/mesh/fru
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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/377f37a622675173bf0f47d84d490687/fruit_knife_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/mesh/fruit_knife_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.urdf b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.usd b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.usd
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+newmtl fruit_knife_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.obj
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015_collision.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7268c2d7a4f571720ac9b88dfd4d3b05ec133550
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015_collision.obj
@@ -0,0 +1,3491 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a61dffa54112d41829d00af75144e35b4623bf2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea1cf4be2edea4933dfe0c6503931f66c72a414923c6ea8eee1ac27229235f7
+size 6813845
diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57cbe4969f5c931cbcdda737891bf4649fb6222f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a61dffa54112d41829d00af75144e35b4623bf2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea1cf4be2edea4933dfe0c6503931f66c72a414923c6ea8eee1ac27229235f7
+size 6813845
diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/fruit_knife_015.xml b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/fruit_knife_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af7ca6a39d6d1a898d0f0265e70b6b73fc14ea82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/fruit_knife_015.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e95489481b449aa90832f97126785b0f99986c0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015.obj
@@ -0,0 +1,106770 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002ce688713579ebe7bd74299ea2dd0393f3cf4c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision.obj
@@ -0,0 +1,3491 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9ceb35457d080109a661815b572ae1ff3c3165
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8757ecaa376c5b9270e611ab14a4824692084f97
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d11a22bba3a462d428377430cf32fe8a216c52
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mjcf/mesh/fruit_knife_015_collision_2.obj
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