diff --git a/.gitattributes b/.gitattributes
index 2de3398886bfa4fe6cbdec16682dc1151f827b51..5b58ab81e38a6dc83aa9ba1f83772ccda6136b73 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4461,7 +4461,5 @@ dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/mesh/fork.gl
 dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/00f7ebc016715d9bac12154a75996db2/mesh/spatula_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/00f7ebc016715d9bac12154a75996db2/spatula_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/fecbc7154cbd52349d86f4dd160ea327/chopsticks_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/fecbc7154cbd52349d86f4dd160ea327/mesh/chopsticks_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.urdf b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..39be4b71fdc0cc2d365c3a29a9dbfc3493d4f7b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chopsticks_011">
+   <link name="chopsticks_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chopsticks_011.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chopsticks_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>1.000000</scale>
+         <uuid>fb268ce5099b5236b904de1c733b61d5</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>chopsticks</category>
+         <name>training chopsticks</name>
+         <color>beige,green</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>children’s chopsticks with pink finger ring and teal decorated handles</description>
+         <min_height>0.0334</min_height>
+         <max_height>0.0334</max_height>
+         <real_height>0.0334</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183735</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.080260 -0.018163 -0.019205</min>
+            <max>0.049740 0.018184 0.014187</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.usd b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/chopsticks_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d681723806a38f871c888641e9dda74d70cf8cf6a3f8758e4599932237352d2a
+size 4965143
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.glb b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..032e3250c6919572e5d94f937e3d14695e1b0869
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687c7992815c0743f46aaccb583060548bd9397657254a914a0f6db7bba55df0
+size 10909836
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.mtl b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9036e54dc3faf2a0e2cdef48c82e43368f38175b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.mtl
@@ -0,0 +1,6 @@
+newmtl chopsticks_011_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2feebe300b1d977d0a6e0831b3cd555e60043b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl chopsticks_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011_collision.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee192a86a9f108709b0734eb19836fc8bd0020a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b2003e5628467ea8fb1b8c75e2ea1d289fd314e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/chopsticks_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177bbba645eb5c072f2806c3ec2eb5c137d39ab46caa1960d17415c19a956f09
+size 7477382
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2ff83956aa9c70a7d101950263db7e553c24280
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chopsticks_011_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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+Ns 1.00000000
+map_Kd chopsticks_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b2003e5628467ea8fb1b8c75e2ea1d289fd314e
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+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177bbba645eb5c072f2806c3ec2eb5c137d39ab46caa1960d17415c19a956f09
+size 7477382
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/chopsticks_011.xml b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/chopsticks_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..28f379d5e5a84bbe7352d718f1f0ab2bb5bd573c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/chopsticks_011.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chopsticks_011">
+  <asset>
+    <material name="material_0" texture="texture_0_chopsticks_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chopsticks_011_geometry_Looks_material_0" type="2d" file="mesh/chopsticks_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chopsticks_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chopsticks_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chopsticks_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chopsticks_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chopsticks_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chopsticks_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chopsticks_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/chopsticks_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/chopsticks_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/chopsticks_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/chopsticks_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chopsticks_011">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65acd64b496ebd4d29cfd7bf2842fff24043b3a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011.obj
@@ -0,0 +1,107286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl chopsticks_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e944189f48397699d5ee6fab7ff5ef66ac1059
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision.obj
@@ -0,0 +1,4620 @@
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_0.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ba3625378805919468c5e737edbf694810af5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_1.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3479191ffe9fa82c7f019427e772eacef43e76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_2.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13675f5e8767ec1221486c6cf541d2b7c3c55941
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_2.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_3.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0edfa043558518dc38c0619c5a1dc8ef32b1804c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_3.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_4.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d38ad8f4f5bf8dc52cdbdb40f1cad5a42343a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_5.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3736b39ec1a4862d73acf7205bcb88d69dc48f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_5.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_6.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63949a70b00a1d00c3f7adce3387c61a24c08785
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_6.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_7.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f58b82082a22ac54a5035adc840e79c029516aad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_8.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cfc04849b7fdf0a279709f54daf8febae960f51
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_8.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_9.obj b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb8b24642548e8967ac600ec243492980d43327
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/mjcf/mesh/chopsticks_011_collision_9.obj
@@ -0,0 +1,442 @@
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