diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..7aebadd81998dfc2e4ef4a96ccaf7e8ddb9fa286 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,59 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
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+obj_meshes/ycb/003_cracker_box/splat.ply filter=lfs diff=lfs merge=lfs -text
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+obj_meshes/ycb/011_banana/mesh.ply filter=lfs diff=lfs merge=lfs -text
+obj_meshes/ycb/011_banana/splat.ply filter=lfs diff=lfs merge=lfs -text
+obj_meshes/ycb/021_bleach_cleanser/mesh.ply filter=lfs diff=lfs merge=lfs -text
+obj_meshes/ycb/021_bleach_cleanser/splat.ply filter=lfs diff=lfs merge=lfs -text
+obj_meshes/ycb/035_power_drill/mesh.ply filter=lfs diff=lfs merge=lfs -text
+obj_meshes/ycb/035_power_drill/splat.ply filter=lfs diff=lfs merge=lfs -text
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+obj_meshes/ycb/ycb_dex_01/splat.ply filter=lfs diff=lfs merge=lfs -text
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+obj_meshes/ycb/ycb_dex_20/mesh.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/obj_meshes/ycb/003_cracker_box/mesh.ply b/obj_meshes/ycb/003_cracker_box/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ec1be0f14306d7dd53ba007832a52a33e883b78c
--- /dev/null
+++ b/obj_meshes/ycb/003_cracker_box/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6596841
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new file mode 100644
index 0000000000000000000000000000000000000000..52947998683de3aaf4dd51d7263aa0ebc669bfdd
--- /dev/null
+++ b/obj_meshes/ycb/003_cracker_box/scale.json
@@ -0,0 +1,6 @@
+{
+  "scale_factor": 0.23959562229789613,
+  "mesh_diameter_units": 1.1268,
+  "real_diameter_m": 0.27,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
\ No newline at end of file
diff --git a/obj_meshes/ycb/003_cracker_box/splat.ply b/obj_meshes/ycb/003_cracker_box/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9b0952260d344ffbde8801866417bccae7d7c92b
--- /dev/null
+++ b/obj_meshes/ycb/003_cracker_box/splat.ply
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..ab6c954d8e37c89cba376210fa2c833e5540031d
--- /dev/null
+++ b/obj_meshes/ycb/004_sugar_box/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42c578e047ffd1c237a6fe58f892d581e9e82606fdcae88d87cec7d9d422505
+size 8621709
diff --git a/obj_meshes/ycb/004_sugar_box/scale.json b/obj_meshes/ycb/004_sugar_box/scale.json
new file mode 100644
index 0000000000000000000000000000000000000000..90467a75f975ebc1cc51724be6e9aa1c6d7c7eb1
--- /dev/null
+++ b/obj_meshes/ycb/004_sugar_box/scale.json
@@ -0,0 +1,6 @@
+{
+  "scale_factor": 0.17424003927176146,
+  "mesh_diameter_units": 1.1597,
+  "real_diameter_m": 0.2021,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
\ No newline at end of file
diff --git a/obj_meshes/ycb/004_sugar_box/splat.ply b/obj_meshes/ycb/004_sugar_box/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4606cd2c8e70921401693e5cea0fbddff250c0fd
--- /dev/null
+++ b/obj_meshes/ycb/004_sugar_box/splat.ply
@@ -0,0 +1,3 @@
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+size 16111520
diff --git a/obj_meshes/ycb/006_mustard_bottle/mesh.ply b/obj_meshes/ycb/006_mustard_bottle/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3df52493106541aec9d4e1fbac76528eadc1156b
--- /dev/null
+++ b/obj_meshes/ycb/006_mustard_bottle/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/obj_meshes/ycb/006_mustard_bottle/scale.json b/obj_meshes/ycb/006_mustard_bottle/scale.json
new file mode 100644
index 0000000000000000000000000000000000000000..87771379ef9c0a87a01098abb968a8a62aafb91e
--- /dev/null
+++ b/obj_meshes/ycb/006_mustard_bottle/scale.json
@@ -0,0 +1,6 @@
+{
+  "scale_factor": 0.17097145975738154,
+  "mesh_diameter_units": 1.1393,
+  "real_diameter_m": 0.1948,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
\ No newline at end of file
diff --git a/obj_meshes/ycb/006_mustard_bottle/splat.ply b/obj_meshes/ycb/006_mustard_bottle/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eff258fc6b317475621f32c56c8ef68d5d774a0a
--- /dev/null
+++ b/obj_meshes/ycb/006_mustard_bottle/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/obj_meshes/ycb/010_potted_meat_can/mesh.ply b/obj_meshes/ycb/010_potted_meat_can/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e4d61fde30c9c1cf7f60d99f3fb53a3fab41a874
--- /dev/null
+++ b/obj_meshes/ycb/010_potted_meat_can/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/obj_meshes/ycb/010_potted_meat_can/scale.json b/obj_meshes/ycb/010_potted_meat_can/scale.json
new file mode 100644
index 0000000000000000000000000000000000000000..1168ef48a18a7f5cb85e1e782df300838fde105f
--- /dev/null
+++ b/obj_meshes/ycb/010_potted_meat_can/scale.json
@@ -0,0 +1,6 @@
+{
+  "scale_factor": 0.1767851973458072,
+  "mesh_diameter_units": 0.804,
+  "real_diameter_m": 0.1421,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
\ No newline at end of file
diff --git a/obj_meshes/ycb/010_potted_meat_can/splat.ply b/obj_meshes/ycb/010_potted_meat_can/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8bb08ac646f305f1734bd2b9084a02b136922b81
--- /dev/null
+++ b/obj_meshes/ycb/010_potted_meat_can/splat.ply
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..46abf1f16cb298de1352ac4ef925787e00c008eb
--- /dev/null
+++ b/obj_meshes/ycb/011_banana/mesh.ply
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new file mode 100644
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--- /dev/null
+++ b/obj_meshes/ycb/011_banana/scale.json
@@ -0,0 +1,6 @@
+{
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+  "mesh_diameter_units": 1.0544,
+  "real_diameter_m": 0.2241,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
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diff --git a/obj_meshes/ycb/011_banana/splat.ply b/obj_meshes/ycb/011_banana/splat.ply
new file mode 100644
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new file mode 100644
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--- /dev/null
+++ b/obj_meshes/ycb/021_bleach_cleanser/mesh.ply
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new file mode 100644
index 0000000000000000000000000000000000000000..ad1edb2d87a7fa77029bb21e40cabcba6267747c
--- /dev/null
+++ b/obj_meshes/ycb/021_bleach_cleanser/scale.json
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+{
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+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
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diff --git a/obj_meshes/ycb/021_bleach_cleanser/splat.ply b/obj_meshes/ycb/021_bleach_cleanser/splat.ply
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--- /dev/null
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new file mode 100644
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+++ b/obj_meshes/ycb/035_power_drill/scale.json
@@ -0,0 +1,6 @@
+{
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+  "real_diameter_m": 0.2685,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
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diff --git a/obj_meshes/ycb/035_power_drill/splat.ply b/obj_meshes/ycb/035_power_drill/splat.ply
new file mode 100644
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--- /dev/null
+++ b/obj_meshes/ycb/035_power_drill/splat.ply
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/obj_meshes/ycb/052_extra_large_clamp/scale.json
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+{
+  "scale_factor": 0.3461733983560383,
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+  "real_diameter_m": 0.3984,
+  "note": "scale_factor = real_diameter / mesh_diameter. Apply: mesh_verts *= scale_factor"
+}
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diff --git a/obj_meshes/ycb/052_extra_large_clamp/splat.ply b/obj_meshes/ycb/052_extra_large_clamp/splat.ply
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diff --git a/obj_meshes/ycb/ycb_dex_01/mesh.ply b/obj_meshes/ycb/ycb_dex_01/mesh.ply
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+++ b/obj_meshes/ycb/ycb_dex_01/scale.json
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+{
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+}
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diff --git a/obj_meshes/ycb/ycb_dex_01/splat.ply b/obj_meshes/ycb/ycb_dex_01/splat.ply
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+++ b/obj_meshes/ycb/ycb_dex_02/scale.json
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