diff --git a/.gitattributes b/.gitattributes
index de662c77851e83da9597e882efa85190c2f71365..bffecf0d0ab945f60d684f87eab1d885ce9f43f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4356,3 +4356,6 @@ dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/mesh/chopsti
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.urdf b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd3f002a12161390cf9db625802149632c7035ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.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="0.6000" />
+         <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>0.255676</scale>
+         <version>v0.1.7</version>
+         <category>fruit bowl</category>
+         <description>simple round bowl with smooth surface and uniform color</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260117161314</generate_time>
+         <gs_model>mesh/fruit_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.693919658660889</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/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.usd b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dc4e21cbd3b1a601e59f3eaee8ad827d92506eaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df52285b5151254006666fe075d9d5251543adb8af65a521840432a6e57bb7f8
+size 781702
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..15b8ce4db4a9a1f3feb10f0c4bf7ac2f4f1d0cfd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2086e89c04166e80967e5ee9ca6feb378fb0c3243c3514d72956d5d617467cd
+size 2208596
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b40f33637763e504b632b141e48b9c65632f371
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.obj
@@ -0,0 +1,47546 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9714502493b2826c2cea8958bd30c8d6cfc35b2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_gs.ply b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f471f50fd47935af5da73ac77199788596562b05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/material.mtl
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+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/c74419bc89df5c5c9ffa7c7c58b9f458.xml b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/c74419bc89df5c5c9ffa7c7c58b9f458.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07b50699754dea4208ed967b5c7d4c2954091912
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/c74419bc89df5c5c9ffa7c7c58b9f458.xml
@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_bowl">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_bowl.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_bowl_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_bowl_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_bowl_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_bowl_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fruit_bowl_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fruit_bowl_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fruit_bowl_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/fruit_bowl_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/fruit_bowl_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/fruit_bowl_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/fruit_bowl_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/fruit_bowl_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/fruit_bowl_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/fruit_bowl_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/fruit_bowl_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/fruit_bowl_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/fruit_bowl_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/fruit_bowl_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/fruit_bowl_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/fruit_bowl_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/fruit_bowl_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/fruit_bowl_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/fruit_bowl_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/fruit_bowl_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/fruit_bowl_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/fruit_bowl_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/fruit_bowl_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/fruit_bowl_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/fruit_bowl_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/fruit_bowl_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/fruit_bowl_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/fruit_bowl_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/fruit_bowl_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/fruit_bowl_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/fruit_bowl_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/fruit_bowl_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/fruit_bowl_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/fruit_bowl_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/fruit_bowl_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/fruit_bowl_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/fruit_bowl_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/fruit_bowl_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/fruit_bowl_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/fruit_bowl_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/fruit_bowl_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/fruit_bowl_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/fruit_bowl_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/fruit_bowl_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/fruit_bowl_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/fruit_bowl_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/fruit_bowl_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/fruit_bowl_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/fruit_bowl_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/fruit_bowl_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_bowl">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e519e4e744b63d4982bf112a783e8d8b373473d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl.obj
@@ -0,0 +1,47546 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c1ba93a682c5cdb96279b0f3426f97dfd9d8d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,32276 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2778cd6e56f3ff4e77c57fe480b508fa622e3b65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38441b42047cde59547b71317271a562c54ebea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f96dd312913d22ae207c01030ebabf6384ed02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_10.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb972eefdf1a19d155f62801721e538e07c69b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f4953fb3a2ee768f9cd5ee670b0e9c30446ace
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8021e245b804620f869aa4abc2b6ed66a3576c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f528c8256b40efee52f9c61f376d053b663124c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_14.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8200f7589d7e21f9631d1a4fdd04cb02e31714d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_15.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee39635e6b91f1469889eb3d181818db6927832
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21a7d3cda34e802afe427b824d3df657f712f4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63aa5e1c260e40499695e4eb8255408f9ab3c1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87877294b7132af621aa9a3e110302b75d4dadbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_19.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6073e8c84fa60c7e556c9bf6428305479a8e56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0956d9160f9267ba46f393f713d86bbcd5d3df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e26b725e849630dbe9ac96b69dd30f0f9ce6d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_21.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5b3c053d431913c09cfb1d07eac05d3c60288d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_22.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e27e92b2a404df3f654252bc8d07383524e026
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5780283367fd5c401a8ee5790b3433835e635dff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_24.obj
@@ -0,0 +1,625 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1713ecd99dad81f5abd8eb8d8531201eac763b3c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b46ceeb5b58f2a64df3a615405ac772400182b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_26.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ca99a0e091066c067973fa18a4da6c7d9de589
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dfe11d2ceff7c9816cf3231446898aaf30a397b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..716b7e6e6b29d4815dc67d9513b2133a74df5624
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c43425dae45267b72e17266dc37cd8d35ce8f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c4e0ae307385234b020dfc2448d4660ea1d7e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f95317a2042cc5a274d066f926bdce5e43398d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_31.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19a4031e321de33078dc1b9e904486a79db1d14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_32.obj
@@ -0,0 +1,1039 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3510d95120ab95ebfe170c82a0355f0a109f91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_33.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6b4b7b0088e41331995e8a31c95ffb1a858892
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_34.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45fdecacb0b560b8f500072318a6bef76ebedc8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d3ff7646e337cb7d56a45f923af48795b6a192
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_36.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83425739ac69f23f262d34e8e5825b8c8b3c47c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_37.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b024ab512be584c18c1ca807452d00845929098
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_38.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17bfa555d978703fbd651290abaf12670298cec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_39.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3352a424afa72c26cd5571169c6b8a72907e92c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5289c77bda266894a8886fafeea9c126c4af83
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_40.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0494b8a8f5344e72196491f99207b944add1a4f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_41.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..845ab3606a6d7103d60367c6b0ebee8a53246882
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_42.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90044a9aa1d58ca6609c40d5d9c5946dbc4d8988
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_43.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc849ef82d94686c91d581249a7d83d48545a10f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_44.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e922bcbd41e9da6a910f9fd574e185003b7cf6cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_45.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36990644651e86c942c12132b9d16f40a2e51a82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_46.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e9285bb4630772983c8fd1f32fbcc4d3543d4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_47.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.10606828 0.04501984 0.02550463
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+v 0.11314664 0.04501984 0.02550463
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+v 0.12811285 0.00017387 0.05642513
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+
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa4218c41a47584b3ca5c179599270ce68618a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_48.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01015869 0.12228514 0.06085928
+v 0.01441214 0.12228514 0.06084867
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+
diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_49.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f350adfc24f8daf695ae565843216a9b0cdf5c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_49.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.04764766 0.00017044 -0.05249689
+v -0.07457391 0.00017040 -0.04082289
+v -0.04764766 0.00017047 -0.05949833
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5812745423a4b453702bdd2f1a5f09bdea13dfc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_50.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2966f61a405aba3af2f973a93c328d539e6654f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_50.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_51.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f553df08f46087db0ca6aaa1efca7ca0cb84dc12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_51.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_52.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4bdab59aaa954a4c7f3dc93d785659c87b862e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_52.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_53.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30acf3282f85b2fd9ebef43c75d489542da0147
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_53.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb7189548fb85d8b83d3df69be8ab641d55d6b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_6.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500a827fa1945fe238ae3f0866455f3878126d84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_7.obj
@@ -0,0 +1,868 @@
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4196b22fe2d316fab7fe7ffdfa994bc0d5945e46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f97afd3dcfa2a58fa29c25a0c9ffd076b69a8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/fruit_bowl_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mjcf/mesh/material_0.png
new file mode 100644
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