diff --git a/.gitattributes b/.gitattributes
index e7d0f9be8ae5dd4735f706ba92b6bd4007f90607..fcd5a5cbaab5602094b68969d486b6949a1ba391 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4262,3 +4262,6 @@ dataset/kitchen_supplies/tableware/92264018e5b056c68a7725e52c123860/coaster_038.
 dataset/kitchen_supplies/tableware/92264018e5b056c68a7725e52c123860/mesh/coaster_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.urdf b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6fdc39c788f9a40e5ac980c7375fdbf8e0b633cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_bowl">
+   <link name="fruit_bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_bowl.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_bowl_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.246482</scale>
+         <version>v0.1.7</version>
+         <category>fruit bowl</category>
+         <description>perforated round bowl with wide rim and tapered base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260117160645</generate_time>
+         <gs_model>mesh/fruit_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.675421237945557</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.usd b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a73aa631d861fb767590be5b957b42629ca8a55b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52726fa4ce7fb3afe238a714da5bdb6a999ea5104fb1157105c1936ac8b9f252
+size 832826
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..67e11651e7befa49b443223325ce636b48e97e3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b16f02e7cf81f842d315309f244700869df0a4a630c1a48189784a9e8c8b6f
+size 2839940
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47dbcee9358f0b1d038cfd809cb114e09b8a99b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.obj
@@ -0,0 +1,57608 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00943919f4a30c77d841c77180478d98407a5e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,16487 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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index 0000000000000000000000000000000000000000..5d2bc8bd8fe19b39bfe3e79dbe1494bb628144a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:668eae36881668383b6dc84d28ac1712ee3b2f6be67d4d1eae98d852934c4aab
+size 2547241
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/material.mtl b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/material.mtl
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index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/material_0.png b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3924afcbb1555c0a47e9bb2dd123592a117024ce190c9fc5a5370b4c036bd632
+size 2218499
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/92a6e5da3c115ec385c4088541aec189.xml b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/92a6e5da3c115ec385c4088541aec189.xml
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165272f31dd09ee713c5cf8485fee6664dd0dc39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl.obj
@@ -0,0 +1,57608 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eddf5020f02552188d9ee3fbf3d36795d50414c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,16487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5e7187a8d9713329680f1783fa683904c077bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_0.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5031fd13c43ce21b89efb11a817accf3fbe51784
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95504661ab0ee61cf3aa702e060f2421ea75b742
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_10.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d4b02e008733ca254415f96b9fdd03ea10201b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_11.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09f29efc190bae6f7d8a9f0d61b5f3f21355e34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76d619875c54d24ea3f4ca5c7d114b14d39ed48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cfe8f18ee995ba404c62372909e9c5d5b2c26a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_14.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe0a55deaec021696af71ae64dd085f5976b97e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_15.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f85c0a87fb7633bacdf3f0d08812d446e3317ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aaff94248f000a61ba21024d2eb81b42c6a7a99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4021007c1c27e8466a157ce60ed8e9605cb61f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.05320596 0.06138878 -0.02742546
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3432eb80a41dde7e6c33f1bc0e03a9171d93424e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_19.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03064397 0.07283594 -0.03119780
+v 0.03064397 0.07339641 -0.03049241
+v 0.03124017 0.07262750 -0.03119780
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d3c3e938137dfea8d341729ccf3c65faaeb778
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_2.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fdff97219ecc02276d747410541f98a7d2c5092
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_20.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604d2df7b73633f1e6cac7b581a089f92578aa54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d469c19313e0cd20d8e190875b8f5e4fa24532
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_22.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29714091c23f22382048807fbed97becd20c0ec1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.05320239 -0.00001311 -0.04738083
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+v 0.05320239 -0.00001309 -0.05249509
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca9f55fb5b2c62a7d32916b6305ea59d22567b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_24.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c39033b30f3524b7035fc2d5a41d607d762b7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_25.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.08782492 -0.00001326 -0.00421781
+v 0.08782492 -0.00001322 -0.01617488
+v 0.08782492 0.04256032 0.01734708
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44eade53832dcba0307542c10a24882e64e3fc09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_26.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65d3540b06eab9a3c26cb75a3de440416465d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787be751602e55fb79c7d0b2178f0ca87391289c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_28.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1072659d6e4b07e0dca76aa2e38d8bcbbd9d3b0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_29.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e5dbadec68d7b6a2299e26bb8ad81a3b0b4bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_3.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d6c4162f93ba980a13b6bba2b56708428a9cc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_30.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e18e2bb0509481230efbf5c3251b0c907a3236
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_31.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1105b346ed19975459ba46fa840d58718d55fe70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_32.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f949428f0858b297375ad311456080a1df46994a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_33.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de56923f31305ef271c2c2d9f662a61ca01b83aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_34.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6211bb6cd4695df190f48994a730c2871bada5f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_35.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4986d3f88d846d23edc7138a8d7735fbc4dd7ba0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_36.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34720e666a65c0535f0ef662788b4a1286870142
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_37.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df3859952915818d3b720c0d0abdb58b975aa3f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_38.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab83a361610253a7f80b01671caa1703e2bf428
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_39.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a109b997822f61a82fec978f836e8ac865ae2dee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_4.obj
@@ -0,0 +1,325 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c87ee91ccdfd5a6bdd90d6ef85a9f37f4c051f34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_40.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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+v 0.06301761 -0.05535309 -0.02302439
+v 0.03596643 -0.06868227 -0.02302444
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+v 0.06134115 -0.05724679 -0.02302440
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+v 0.03596643 -0.07600599 -0.02262690
+v 0.03596643 -0.09746465 0.02010755
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2c9fd831d2e8375a02007b15acef15df901a94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_41.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.03336257 -0.03336261 -0.05216828
+v -0.03336257 -0.04598115 -0.05216833
+v -0.03336257 -0.03450834 -0.05150401
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+v -0.03176173 -0.05323482 -0.04833777
+v -0.02202606 -0.05323481 -0.05158051
+f 1 2 6
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+f 14 15 18
+f 15 17 19
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154c036b23ab5460bcac8457824fd6fcaa63e21f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_42.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.05320239 0.04256054 -0.04341704
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4210fcc5a65e6dca0ac82ff7b5ab8baedcf3881
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_43.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eebb1ba6d8902995618c6c9016ac5bbdae5ced6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_44.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a53b14a7c58fd55a19f29da7c47c502074c72886
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_45.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4822931495b14aefb2edb8e13be30d70ab4ce94e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_46.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe6f8f1212e16166cc09a2b0692ba09e52add947
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_47.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af4cfdfe34068772381fa180301808e7cd269e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_5.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f801c678d69d6532821c0886ad610771e2f6b21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_6.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a935fe96d2e77e03a8dd174f7696aa59d4917143
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d28134ff925cbb87bf5151300b677e216e47e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_8.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e5ba9e7f651657acfea53719ae84f692b7eb1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mjcf/mesh/fruit_bowl_collision_9.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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