diff --git a/.gitattributes b/.gitattributes
index e27378ec565e76c5b99d2259993f636dd9b23e09..033b288cfa6faa8113487da58cffb80dfb5cc7d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4056,5 +4056,6 @@ dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/mesh/storage_b
 dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/storage_bin_062.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/mesh/storage_bin_107.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/storage_bin_107.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0060b9d890805442ba613743195c1123/chopsticks_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0060b9d890805442ba613743195c1123/mesh/chopsticks_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.urdf b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f386f7090e2489dc5d90452588f9f9eb3a37a52b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.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>0.261399</scale>
+         <version>v0.1.7</version>
+         <category>fruit bowl</category>
+         <description>simple gray bowl with a wide rim and tapered base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260117161636</generate_time>
+         <gs_model>mesh/fruit_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5991315841674805</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.usd b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fc78a774d561373db198d1ad831e075806cc42fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/01247f5259de5dda8b8c9d3242c838b7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af73c842ddb4f9c574abf90e0dff0ad155024c2239f516c8ffd37bf53ee985d
+size 899861
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b69fe3028180d26b690349c8028d082aa9929a92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:988b577c5aece53c849d79daaab254e021ba1f6c4710c876e4a8db2d253dffdc
+size 1250148
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48cbd52a3dedf1dc3fd8f61b441950dd733d5245
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl.obj
@@ -0,0 +1,54270 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab32247a255ebc108c3f373c8653d055d1bfb55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,15847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_gs.ply b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d6d10a14816a3fc8bbacc0e62161e801839ea538
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/fruit_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583588d23b2b4188d4c178e458fd70df17d59eb6d9090468593e7f5d804fa4c4
+size 5144745
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/material.mtl b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+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/01247f5259de5dda8b8c9d3242c838b7/mesh/material_0.png b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..07890d3645ea8578213af6554cdecb662be054a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ab1b6c7e4d3dbe121b9630588a51378397936cb06365e5381af550447647f2
+size 654284
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/01247f5259de5dda8b8c9d3242c838b7.xml b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/01247f5259de5dda8b8c9d3242c838b7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb7cb3936f7fa0738f35af04f54df76f5185f8f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/01247f5259de5dda8b8c9d3242c838b7.xml
@@ -0,0 +1,78 @@
+<?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" />
+  </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" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289ac40ad350f4265d2711e6938d5e9f5befffa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl.obj
@@ -0,0 +1,54270 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5bd3f33fe34667627e6d112d794841b8ad1c78e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,15847 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc103ccb97a21358e922b2f3f483ff6c9eb50df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_0.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ec6d6ffd4e99b182df75544e94b50795e84046
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_1.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cef90fbdaca7e1a69ec6f8a7ca781a00a13e76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1dd348b261b13475dd9456355c38067e1801df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44337a26920ffa682467ce650e9171a2ecaacb24
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49de87d4abfa1307555a8f2999d27da5203a196
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef12d7072365e3f0e03d5e374fbf5e5b6e60e39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be878ee38ae818657c1901b4e160e6b7803fb2d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316230559d53dd80e3bd219066268191a7f63b9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddcbc6a884414edbda75062a25eaa0cbac0aca0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_17.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a38ec849edba9a871a62d3a27807dde12ad132d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,1108 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7fd65ae01de3a7a38410d41273aa0b530845835
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c9d164d399f5d7acf395a635aa88f6a3eb150d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0752d640a208f86b652eba9f75c5d7b50edd286
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c65cd2f33a161be2e88caaca923c13db11b76d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_21.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54330758508db4e609513d8357cbcd5789d5d007
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_22.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f11588aa9a36d544255e42670d93cb639a030d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151ee5d0cda164fb24ad65c08d119ce7277f07b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_24.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c1c27fc12d4e63bcd301bacd8840b1d24940524
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146fc464d3803add1a605be7d4c4fcb64307df6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_26.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9683088714386fe9b5ad0c69dd3dbe9131793d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed66ad19755c8214d178accdd91aa35b1fc172f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_28.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05dedb81d49ac1ff841b8c9bedd74c85cd54fc0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_29.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c13bfcb34d71b2d10b4158c81962ef9106ceb3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_3.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63f6210148c00c757dd5d7dbc57339358d9aa33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_30.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72fcdba6c350297ca0cc0a00488a1c6cc695ba1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_31.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36515acbfd9fa2cbc84d899852f8e720e946836
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2360441e0057a6cb4ece40a6831d6741523cf0ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1073065e799c5e017fdffe549970818f058f29d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_6.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c386e9927ddc59e872c0b01eb223cf3a78f64e67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_7.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6965ea9b39853c4646c4315584e77575acf68be6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_8.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e96afea438e8ef2a7951fe135ec140e06a6aba40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/mjcf/mesh/fruit_bowl_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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