diff --git a/.gitattributes b/.gitattributes
index 9660031ec0dd3126df336c76bb54d176c1e35842..291bc4b6fa924fae6c4cefd0f0b4685830bb5bd8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4225,5 +4225,6 @@ dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d
 dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6dd5651b3d3c578992053d847c5fcc44/6dd5651b3d3c578992053d847c5fcc44.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/mesh/spoon_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/spoon_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.urdf b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..415a891b85bc70774092a2445ab59e8e2c84e4e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.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>0.50</mu1>
+            <mu2>0.40</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>0.276125</scale>
+         <version>v0.1.7</version>
+         <category>fruit bowl</category>
+         <description>wooden fruit bowl with smooth curved edges</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>20260117155347</generate_time>
+         <gs_model>mesh/fruit_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.971674919128418</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/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.usd b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8d9fc97d393697ea1cb894a98de5876ab74ffc49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed2c138fe27bf86278564861dc22b24d5c8b7eb3f18339f79d922d70b42a2f6
+size 622899
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..897e99e0f92f2dcae21327993a130cca4d533cac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a403a06152f57db971f7a9612955e18a0ae85ece6325b982f7023861d8b294
+size 2368156
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c501f1fe849d29c0fbeb0f9a34f7184c453a71f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.obj
@@ -0,0 +1,38404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169806868a730dca2edc9a014f41c788bf0020a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,28382 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_gs.ply b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ce4752ec8d2775298ea128a1e1628446b2f2fcf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9c298517d92cfd0751b899660725205bbebcf12be49e2846dd23cfe147b719
+size 3445481
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/material.mtl b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/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/6dca185a8ead568bac0a8c5d16aed163/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4699cf04f8e72995366d458eca2a74e390a6a87f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02bf5e18b74c6e6de725ee782505855db4113f923ae3aa9920a03628dffe07bd
+size 1947357
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/6dca185a8ead568bac0a8c5d16aed163.xml b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/6dca185a8ead568bac0a8c5d16aed163.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33c26f913e43d759e112fd9327f6d3ec8df67047
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/6dca185a8ead568bac0a8c5d16aed163.xml
@@ -0,0 +1,116 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18cbd86e73f4f1592c9a9b678ebb33973457b9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl.obj
@@ -0,0 +1,38404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.083294 0.098438 0.052377
+v 0.081523 0.098695 0.051963
+v 0.083790 0.098165 0.051945
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+v 0.004071 -0.004800 -0.059404
+v 0.009930 -0.011453 -0.059450
+v 0.010194 -0.022282 -0.059630
+v 0.019566 -0.013210 -0.059584
+v 0.024494 -0.018736 -0.059627
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7105f3ace7b6287308589849a14accf25be3a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,28382 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83942734fd804d1eda2372956acab71770eef51
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4568e86cede33b8b3992f4bff37917324e860860
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_1.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335d558531f59c122ff7bc88a2cc9855a25ffc38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_10.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..153480f877ed2251fbce198b5a07e3eb724ff978
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61edfff5de9fa8b7cf625e5fff2570e138fec890
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_12.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1fb742017a703fcb93345ed74ebf00c7478195
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_13.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da77ce6a819ac2fe0e0b2be8e52d30151d0bdbcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa141d86fccc66136bc126a01a25555a8357a14f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c3ea67666ddb3a5fbac1d06817ffde1952ec84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9087543d932426e2305ef0137ff897ff4a170b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b76420290ca5391c05b5b9b0563ed197a3e9ef4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,982 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a2e8839a07194b82c27d0569b6b977751d78770
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9f1d3dfd06b71d28a58e8a8157a2a725e7d20b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_2.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d66197ef72b5c87a2f21424a35ceaac5d234ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_20.obj
@@ -0,0 +1,817 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38ce29e8de51666f9588b0b13560cc7f2287988
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_21.obj
@@ -0,0 +1,700 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed92ed347bc2ff1dca278926a9c3722e7cedabe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_22.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1570b5808ead0286ef79f396b7e0deef205e04f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d23b06f33173801d4993df511ce8f2f91e292a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c763371d541dfd34371cc94079fc1637c9feb861
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e36dd928b0e5968dfb506918e56739a0befe77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_26.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974036da41134489ce8bf9cae0a60ef670783aa0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589337740535b9e98799cd710c133562af158ddd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_28.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de194b334d18c95db28fcd27fa35c6c80862c53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_29.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd118d33cdf396e411637c10ab366a74b7aed10
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8672097e29ce1eb03ad9c7ac5d90cbd8acfd9dac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..219290ad289fdb7f165837c360e201879fca80a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_31.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbbffcedf2638c0ca89ba44bc30f3207d7f9b7b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3224328f88f9574d0ba9c92498425e59b918a93d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_33.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13dfa8a91f5ff1270c36262d51193317327e646c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_34.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d04ece2275acee07e7f24301b7329e564bd007e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e40032b2fb39e44c5f6518ccc167941bb7a4b3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_36.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0752137511eb9c8d8a5a6909f8dd1c3b8662770
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_37.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d3f438bb1634f26a058f2a255f5e3a6850fa95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_38.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d2c48aa2aebf7304f9793ea09f4e3a13e714f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_39.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1547ea54aee753967a7a9c71d79934f3d4842e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_4.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e504e02568bcafcf073214df4ccdc1a63478e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_40.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f71db0c489b02a077f235cd7a484686787160473
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_41.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b7657e203a3e97cc11eaea971efab597ff164a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_42.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7102fb7f64a0b781d7f64731dd8de2a9498a92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_43.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04fb800bce5c14ac20228ebbdbc46d3bbcb0c995
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_44.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab6e32eac47f77f92371700a47b379ac12cd26f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_45.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d0ca301d07e21db9b6920fc4b8d1294c20408c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_46.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b1fd71df2de4db2c479b45909980fd01c0db60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_47.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9442b7f1a3e791a38b84d19bee6eb1032aaf70e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_48.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_49.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b435f63173a1125434b61df81a15c06b2291adfa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_49.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e48ef0c3a26752a87c951026dca0ef38fda9a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_50.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613d91a42bce05d18c2bd70c2c5b44326429522e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_50.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d92f497e9ee202eb99013e5a1459c4a3daba81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b563ed7bb99937628f53405765125bf68ee5ebd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_7.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503d8c0a30656208fc7eb1bff4a210ab12209d21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_8.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3f1344cd0b5008ceaa728d7abf5565ad1c528c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mjcf/mesh/fruit_bowl_collision_9.obj
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