diff --git a/.gitattributes b/.gitattributes
index b304b1a71240a4a4bc7b64abad00723e3e8f60c5..1df8eb2be0d08440438adc9aea01f174b769c380 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -83,3 +83,9 @@ ricecooker/resource/v_69323/link_0_0.usd filter=lfs diff=lfs merge=lfs -text
 oven/resource/v_69323/link_0_0.usd filter=lfs diff=lfs merge=lfs -text
 juicer/model_juicer.usd filter=lfs diff=lfs merge=lfs -text
 AgiBotA2/configuration/model_no_col_base.usd filter=lfs diff=lfs merge=lfs -text
+Collected_kitchen/chopping_board/resource/v_0/link_default_0.usd filter=lfs diff=lfs merge=lfs -text
+Collected_kitchen/platter/resource/v_0/link_default_0.usd filter=lfs diff=lfs merge=lfs -text
+Collected_kitchen/oven/resource/v_69323/link_0_0.usd filter=lfs diff=lfs merge=lfs -text
+Collected_kitchen/pot/resource/v_0/link_default_0.usd filter=lfs diff=lfs merge=lfs -text
+Collected_kitchen/cupboard/model_cupboard.usd filter=lfs diff=lfs merge=lfs -text
+Collected_kitchen/largecabinet/model_largecabinet.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/Collected_kitchen/.collect.mapping.json b/Collected_kitchen/.collect.mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..a58734daefdc39f03b7c982701fa36354938506f
--- /dev/null
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+            "target_url": "./ricecooker/resource/img/68c578a5f45f44f78b02b38c68a24753.png",
+            "target_hash": "d3b4151a5e29812848bf77888ce9ce5ea53d3d10"
+        },
+        {
+            "source_url": "/data/longhaixu/isaacsim_workspace/haixu_forward_test/Collected_zhiyuan_A2_scene_task_1/largecabinet/resource/img/5c99689ddf35737f7d15c87c1c277cad.png",
+            "source_hash": "3a6db0cab77aa5f7acea0daa9646b90ab15e1dae",
+            "target_url": "./largecabinet/resource/img/5c99689ddf35737f7d15c87c1c277cad.png",
+            "target_hash": "4614f8bc9f50d0d574ecc33bb5b9cc6a772833a0"
+        },
+        {
+            "source_url": "/data/longhaixu/isaacsim_workspace/haixu_forward_test/Collected_zhiyuan_A2_scene_task_1/largecabinet/resource/img/70b3ba18e7792def494f4242d23483f0.png",
+            "source_hash": "bc0160dfade1813f639d3915210ef17ca567e077",
+            "target_url": "./largecabinet/resource/img/70b3ba18e7792def494f4242d23483f0.png",
+            "target_hash": "2cb133adc533cb1800fa84804f7600340c5211ab"
+        },
+        {
+            "source_url": "/data/longhaixu/isaacsim_workspace/haixu_forward_test/Collected_zhiyuan_A2_scene_task_1/largecabinet/resource/img/db1f9caa281cd3369080818d337d7bde.png",
+            "source_hash": "d430c873667d8195cf1118b5c2dcad7a737a355a",
+            "target_url": "./largecabinet/resource/img/db1f9caa281cd3369080818d337d7bde.png",
+            "target_hash": "5a97ff3988ed56faaca414d083d47eb9d05b4970"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Collected_kitchen/Articulated_objects/household_items/basket/basket_22/model_basket_22.usd b/Collected_kitchen/Articulated_objects/household_items/basket/basket_22/model_basket_22.usd
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diff --git a/Collected_kitchen/Articulated_objects/household_items/basket/basket_22/resource/material.usd b/Collected_kitchen/Articulated_objects/household_items/basket/basket_22/resource/material.usd
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diff --git a/Collected_kitchen/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass_1.mdl b/Collected_kitchen/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass_1.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
+++ b/Collected_kitchen/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass_1.mdl	
@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
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diff --git a/Collected_kitchen/chopping_board/model_chopping_board.usd b/Collected_kitchen/chopping_board/model_chopping_board.usd
new file mode 100644
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diff --git a/Collected_kitchen/chopping_board/resource/img/63c1094a76556ec09bbc77490a6dbbeb.png b/Collected_kitchen/chopping_board/resource/img/63c1094a76556ec09bbc77490a6dbbeb.png
new file mode 100644
index 0000000000000000000000000000000000000000..295aa8a0327c059df9efbe782aa08831c102721b
--- /dev/null
+++ b/Collected_kitchen/chopping_board/resource/img/63c1094a76556ec09bbc77490a6dbbeb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b025f42c34fd660171d28ff0e385a8598e1e650aec5caa9338a50df311a922
+size 2517138
diff --git a/Collected_kitchen/chopping_board/resource/img/de4ff1d38b7a62e75cccf1b973242d69.png b/Collected_kitchen/chopping_board/resource/img/de4ff1d38b7a62e75cccf1b973242d69.png
new file mode 100644
index 0000000000000000000000000000000000000000..caf23ac07dad6175523715d16a26888eed5c8166
--- /dev/null
+++ b/Collected_kitchen/chopping_board/resource/img/de4ff1d38b7a62e75cccf1b973242d69.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aecae188d44653fb6be5f50bba224806035d90fe480edba6ea634c269e215e3
+size 1048981
diff --git a/Collected_kitchen/chopping_board/resource/material.usd b/Collected_kitchen/chopping_board/resource/material.usd
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diff --git a/Collected_kitchen/chopping_board/resource/v_0/link_default_0.usd b/Collected_kitchen/chopping_board/resource/v_0/link_default_0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f1eb98251a530d228682e5e2be5d7469d3553738
--- /dev/null
+++ b/Collected_kitchen/chopping_board/resource/v_0/link_default_0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b443dac72b767279d99b0735cae2ac4fa167b8fc766a2fdac90b1ea2a2943c
+size 11848913
diff --git a/Collected_kitchen/cupboard/model_cupboard.usd b/Collected_kitchen/cupboard/model_cupboard.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5c02fe51f05fe7ead7a4401f45f1b0445e4e6bc1
--- /dev/null
+++ b/Collected_kitchen/cupboard/model_cupboard.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e4b0fab9045db0ec205d4edbc20a711d46a4a1668e5f6018fe753fa3d7b2852
+size 195529
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--- /dev/null
+++ b/Collected_kitchen/cupboard/resource/img/a1de9af06c43afe3f4fbdd5d9fcfa79a.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37fbaa161883aa2d3061aed223e0ac0b4fb48281af5a96794d6fa44821552ca8
+size 5057722
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new file mode 100644
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--- /dev/null
+++ b/Collected_kitchen/cupboard/resource/img/e1ce27d4a18e263cbbe06f765fd4d644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a66f5dca0dc4b1ccbec65db18f6fd542bb2670de5ce95f2a4ff9e65f04669af0
+size 998966
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diff --git a/Collected_kitchen/item/potted_plant/resource/material.usd b/Collected_kitchen/item/potted_plant/resource/material.usd
new file mode 100644
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diff --git a/Collected_kitchen/juicer/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl b/Collected_kitchen/juicer/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
+++ b/Collected_kitchen/juicer/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl	
@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
diff --git a/Collected_kitchen/juicer/resource/img/7649ad78322090d1c640ac4e841b01d3.png b/Collected_kitchen/juicer/resource/img/7649ad78322090d1c640ac4e841b01d3.png
new file mode 100644
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--- /dev/null
+++ b/Collected_kitchen/juicer/resource/img/7649ad78322090d1c640ac4e841b01d3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1c5eb5cb30bffa8d8c1889da763c585d5b7f4b7f5295c97a0c3a102e53e4a5
+size 406725
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..520b477af136c9598cf45a65265e94d213ac2252
--- /dev/null
+++ b/Collected_kitchen/largecabinet/model_largecabinet.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:324235fa2c68d1b8ecef5e9ef42480005222ae09bee02556af40b3c470cf731a
+size 20874142
diff --git a/Collected_kitchen/largecabinet/resource/img/db1f9caa281cd3369080818d337d7bde.png b/Collected_kitchen/largecabinet/resource/img/db1f9caa281cd3369080818d337d7bde.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4d0c733cbd0d1c4e803515ea41b0c11b9d54e21
--- /dev/null
+++ b/Collected_kitchen/largecabinet/resource/img/db1f9caa281cd3369080818d337d7bde.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37fbaa161883aa2d3061aed223e0ac0b4fb48281af5a96794d6fa44821552ca8
+size 5057722
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--- /dev/null
+++ b/Collected_kitchen/largecabinet/resource/img/e1ce27d4a18e263cbbe06f765fd4d644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/Collected_kitchen/new_greentee.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8086575
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+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/Collected_kitchen/platter/resource/v_0/link_default_0.usd b/Collected_kitchen/platter/resource/v_0/link_default_0.usd
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+version https://git-lfs.github.com/spec/v1
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+size 8449904
diff --git a/Collected_kitchen/pot/model_pot.usd b/Collected_kitchen/pot/model_pot.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4795511
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diff --git a/Collected_kitchen/ricecooker/c/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl b/Collected_kitchen/ricecooker/c/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
+++ b/Collected_kitchen/ricecooker/c/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl	
@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
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diff --git a/Collected_kitchen/scene/Collected_zhiyuan_A2_scene_task_1_0905/Collected_new_yellowtea/textures/new_yellowtea_texture0.jpg b/Collected_kitchen/scene/Collected_zhiyuan_A2_scene_task_1_0905/Collected_new_yellowtea/textures/new_yellowtea_texture0.jpg
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index 0000000000000000000000000000000000000000..7971ed68e3485c995c8b802bdda4df552f043abb
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1aa3933b251c2fef9d7e14f8f9163d5a3fa2a336587cddaf1cb4b22726d0ab
+size 114528
diff --git a/Collected_kitchen/scene/Collected_zhiyuan_A2_scene_task_1_0905/Collected_new_yellowtea/textures/new_yellowtea_texture1.jpg b/Collected_kitchen/scene/Collected_zhiyuan_A2_scene_task_1_0905/Collected_new_yellowtea/textures/new_yellowtea_texture1.jpg
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+version https://git-lfs.github.com/spec/v1
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