diff --git a/.gitattributes b/.gitattributes
index c482673296bafa36da98efeeed158c41e453d196..0f9c39cd7b93a0e6c7e6976b1ddbdf2b0547cb5a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4209,3 +4209,6 @@ dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/mesh/metal_b
 dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/594c00e8d89b5b5ba8770e608ff3bc72/chopsticks_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/594c00e8d89b5b5ba8770e608ff3bc72/mesh/chopsticks_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.urdf b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a0c2e44535b9c4acc5f8f58d162bb86594ef396
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.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>0.229555</scale>
+         <version>v0.1.7</version>
+         <category>fruit bowl</category>
+         <description>simple dark bowl with a wide rim and rounded 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>20260117161010</generate_time>
+         <gs_model>mesh/fruit_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.763140678405762</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.usd b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e6b512aafb49ca0d0f7e2c7360019fd40369a348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/5af5f838d37156d69e9623bcd612be63.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d3880b1d1d9b9688a8056e8c6f428cf7cf5f0a495c089d2cf0a26069051965e
+size 618885
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0646b58ad57e233d9f40189e75987801edd2eb94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b94731cf4b37300723891119f7a7ffaae596254a34827a4a39431c62ea9305
+size 1436428
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c257d783b3a1852e5d20239b1d33985789b0756
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl.obj
@@ -0,0 +1,37786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d529d525328b980ab05fc50e13b6c44eb119b378
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_gs.ply b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0e831f0b5cf9f29df1632d1ab5f05aee318dfb71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/fruit_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adda3006c1665ff9b75bf33d34c0afb17fdd123773d18261e56e252b427d17be
+size 3881161
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/material.mtl b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df1eb5446518aa7ed016fd3aee7939642890a341
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:86a8bb01544be56085e6941071009ff3bc483e44b1af3ad834a0bb8f3ef0dc25
+size 1021845
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/5af5f838d37156d69e9623bcd612be63.xml b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/5af5f838d37156d69e9623bcd612be63.xml
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index 0000000000000000000000000000000000000000..367ea19f36a58390234ae55dfc91ace6603a00eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/5af5f838d37156d69e9623bcd612be63.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae46f65f3ff5a15d61727d46dc600b82d8ed991
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl.obj
@@ -0,0 +1,37786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd3ad74e693a55ad87a4c0a1253d1a400a4ecd40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,25879 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e76aca23e486fd1c108bac14e5ac75e78598e72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_0.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200e22c15b416428e4de1b19964b2d625d646558
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_1.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3930a0a2b4048c34465fe2469bd3bfa38f6dcf15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3962b26aa519fce87d866b56fe48fb60b3e98591
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18d0c1ccf303be108fa3adc416912969a325afc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56dd9e47df39e0d7229ff377acd0e93eb73c6c19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1937fc34a90b8e9b01a88b0172d42f2b7de7ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d127f89e930afd176bca142fa95bf1c35f3d902
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a43e272d52fd0fc9aeeef2515d13b094065a158
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879b06dd1ad72d48501608d9f0f8999492e3fec4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_17.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45cd41df1251ca435726db2986a96e5d4acb3b26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61aec790430509f3e595dfa64542ede8b1c4772
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_19.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe0ad08646f0dd1d86fbb86de7deb4944307982
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_2.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dbee384a8c3811481a4bb73fe4ce5ff51f12556
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_20.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a95232065cee9013753985b5441f6996fbd353
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_21.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e6447257073b8e7cd8db9cde26c90074678ca6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223bc2abd108a2dc219929a414b3ef4e857c32f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5f03e2cb2c9323df45ba7c315a7a9719d145c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a7e379204c9dfc69dd71943522370bb0f6c1ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5b859ab975c745f1ec13a1ad96da63bfd1ea7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_26.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c99702c286d4799f95390073cf103b64466938d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549f4a21a72d54396b77c65883c13704cc96f1f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_28.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6e7906a14379db99be4fa5c2eb73b0c18cefec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_29.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee97f90934f93989627039c0c4ce2050ac3a8714
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_3.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599a25c5b92cfc47596648789b7ba5450cc28cfa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_30.obj
@@ -0,0 +1,925 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6948b4614e5326de1993437a7b9cfff9a26eb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_31.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eeba2cb8acaed6b50f3b5c1e6185ebf47ffff4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_32.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4823a220bcaadd66013be952265b31cbc0030916
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_33.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0a1d38781740eba9001d7f9936f3123f308740
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_34.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5656cf6a8f4d484fcd5337e2e23b4a8c53ab567c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_35.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cab67d4d1541a943349ac57689acfb0c2e26c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_36.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfaea6b349665190cb7747f15f3dcbe2bfaccde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_37.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a1f04965dcf5ae9cd8dab29eb07c61f04a6210
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_38.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9684d4fee5f51ed223158dd289ee1f5ef940409a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_39.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16006d802048894a2e7a149a971c4e34d97e57ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6feeff1dd7b3ef0915885b7a48f22c35dcf5ae13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_40.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91faf95d30ac780da769b895aaa8a960780aa044
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_41.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa7e0a37f67dc2211743aaa4279167687258623
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_42.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd0ee88f7131508e19606a09cc9ac656092f4df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_43.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97fce1625fb2587bbd229463560dc83cf40f4a69
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_44.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0e0bb132f3561a89474f09af8c529151e40044f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_45.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48395bca849a7390cdc92a85100c59b0124001f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_46.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+v -0.03511290 -0.10959559 0.05828287
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+
diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b252fa9764acbd4f661469aca076706e9e7ad78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_47.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8fae0723abba32ec319d24790ead0f0a4a88445
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_48.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_49.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6505d27591f06ace4196dbc8fe98d12ad6a95d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_49.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b358ef1c75ca8e1ddeeb87b3c4e7c3d409de09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_50.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6257dc9bb88c6450e47c9d3d86d54a93d7b5a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_50.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_51.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9971e6f55560eb7e1a9e84b8c7a2d2acac0cde39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_51.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_52.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22d17fe1c196097d0fb0e3d64923510e4e1f743
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_52.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26cbb1046634b162887af2771c28cfa1a23e31a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_6.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v 0.04031229 -0.07295657 -0.02246292
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2671e239eed22b5b9b12b40308520bdf1ec4c8a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9fbdb0f4e0d292be3219a6c6e4006e16df08955
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_8.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b23799a1e1d8bead0e854e4324014fbd043fda8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/mjcf/mesh/fruit_bowl_collision_9.obj
@@ -0,0 +1,421 @@
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