diff --git a/.gitattributes b/.gitattributes
index 1fb7334c78687090916f585dd513e1eb3617f811..ab811eccf56aee0a9eecba93fdbc71b8b38a07ba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4109,3 +4109,5 @@ dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_02
dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mesh/tray_002.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/tray_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/fork_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/fork_015.urdf b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/fork_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7c3703e61a96e933b9eeed7b3c47fd85f2bc58ed
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6017dcfee76acd49deaaf1e0f67988799b55281
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+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015_collision.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726cba7fffc27b4f0b43b9c08cff36408b542b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6b595d09334329ada6edf8dd054723c572fef56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c353356baa61dc44b337b7095ca77e8f961b45a69bda92efaba4c1a0539cd7d7
+size 7527718
diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material.mtl b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f9cf20f6119b2bbf193274721a4eba6fcc27c8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_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 fork_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material_0.png
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index 0000000000000000000000000000000000000000..c6b595d09334329ada6edf8dd054723c572fef56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c353356baa61dc44b337b7095ca77e8f961b45a69bda92efaba4c1a0539cd7d7
+size 7527718
diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/fork_015.xml b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/fork_015.xml
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index 0000000000000000000000000000000000000000..04952e6bc5dc305726420b162a55e444860d61f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/fork_015.xml
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c14626e37163bc063c8e2b1948088cb9de5d3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015.obj
@@ -0,0 +1,108214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fork_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d16ee8555d7ee8e2ee6a18df5082e740bf8ee9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision.obj
@@ -0,0 +1,5523 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_0.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d32908603f3bcbaf3b534185236d79af8bc5511
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_1.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a683196078b065ee88195eec8f726c6a1cdab8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_2.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe607c98194cc0e0b089b73f5e1574623b64b89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_2.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_3.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d00b8040a0c2c1ac838ff23670e21a868e89c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_3.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_4.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f10e1d2f8a031c902ebd9ec0ba0be4ff00346aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_5.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05e345db29cb1799492743d20bd3290006a5032e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_6.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1736c892465c5148468e1c6b8318e6b2411a9ef3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_6.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_7.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17262feb3c435c52e554cfb889265b7229b55c6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_7.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_8.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbeec1a9554eefcd92c8c37c35197a78858326dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_9.obj b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a37747525b9d31ea6240b3cd1b628b19c5b4f23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_9.obj
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