diff --git a/.gitattributes b/.gitattributes
index b2a21df6747733f158620ea7e254f2fe6680b405..e9c2e91898cef04829919dab1eecdd604826bf88 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4095,3 +4095,6 @@ dataset/kitchen_supplies/tableware/155dd76e7f4f51e29d25a28d7167e964/mesh/coaster
 dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/17b440cfc2875010b7b71bce161293d6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.urdf b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..028a29b626665924c2f5ea5647704577242f3ba2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_bowl">
+   <link name="fruit_bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_bowl.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_bowl_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.227877</scale>
+         <version>v0.1.7</version>
+         <category>fruit bowl</category>
+         <description>smooth gradient-colored bowl with a wide rim and rounded base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260117155036</generate_time>
+         <gs_model>mesh/fruit_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.869619369506836</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/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.usd b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e713f14d789d01f86838a461aba8b637fcec8012
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/18ad99251308580299f7cbd4bfb9e5d8.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47816bcec9f111fbe19629046f3ac60f58b0324b1fe31d8ded490a5f73b27cc3
+size 585260
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0df568d12172e8e4811c887fc55e52ffbf32d819
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f1c7df1e5f45fcffbec6a85e32373c0bb16351063e77ffd1649e198eeaa6ca
+size 2107684
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3501730ef8aa29b8d7c4f467262601989b8e8fa2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl.obj
@@ -0,0 +1,34994 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853c40196c9f1b5d48c575db720cf77c01504e2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,25097 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_gs.ply b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f8a1ee7e3254a6006b4b4412cf67aa96d76960ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2781cec4983f8b39ff746f121751b26d81e7ac7a8fe892679e226593d4d23065
+size 4035497
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/material.mtl b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/material_0.png b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384935a338f6845964d37700c63bbce25e42f7ff631bc44f79cee7973b834074
+size 1722719
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/18ad99251308580299f7cbd4bfb9e5d8.xml b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/18ad99251308580299f7cbd4bfb9e5d8.xml
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index 0000000000000000000000000000000000000000..07b50699754dea4208ed967b5c7d4c2954091912
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+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/18ad99251308580299f7cbd4bfb9e5d8.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <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" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59652f1c47f550b96fac3015de0ccaac05cc94b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl.obj
@@ -0,0 +1,34994 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4940b5b29aaefef57ec88e3cf2ba2d028f611c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,25097 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5868065ce69d77670f5d914f29ed1179e18d41e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_0.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6366a6e56e1df40d93d86daeb45d83125603af8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_1.obj
@@ -0,0 +1,1150 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c744e6ecd7a77805ccffcf84337b843eebea22b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a9d95206a315252b9bb23d70bc14b9887bb14b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66a4d102a4e2654b2f1027d85fedbbd425a03c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a453901d232664c7181f30b68e0aff4fe54f88c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_13.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309e590cc18594be151301b0985b3c691007c0fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_14.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+f 85 96 105
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+f 88 111 89
+f 89 111 112
+f 89 112 113
+f 89 113 114
+f 89 114 90
+f 90 114 103
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a896b85a0b594570ef752a8d5a4dae9113b90f68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_15.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03227657 0.00000628 -0.04263616
+v 0.00015972 0.00000628 -0.04440572
+v 0.03227657 0.00000632 -0.05469479
+v 0.03227657 0.03414733 -0.03828197
+v 0.00015972 0.00000631 -0.05281813
+v 0.00015972 0.03414734 -0.04218665
+v 0.03227657 0.03183815 -0.06204767
+v 0.03227657 0.03414742 -0.06147488
+v 0.00015972 0.03414739 -0.05500201
+v 0.02996904 0.03414742 -0.06206629
+v 0.03227657 0.03409395 -0.06148885
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 9
+f 4 9 6
+f 5 9 10
+f 5 10 7
+f 7 10 11
+f 8 11 10
+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc35e2ca98838bb4952b13572ad3b4e0da973492
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_16.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.06032977 -0.04061112 -0.03168602
+v -0.05999979 -0.04061112 -0.03197112
+v -0.06032977 -0.04277507 -0.03046556
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+v -0.05938892 -0.04061112 -0.03249132
+v -0.05851625 -0.04355521 -0.03147095
+v -0.06032977 -0.04430121 -0.02956522
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+v -0.06032977 -0.04483840 -0.02923510
+v -0.06032977 -0.06000310 -0.01779581
+v -0.03247237 -0.06000308 -0.02398816
+v -0.03247237 -0.04061105 -0.05271401
+v -0.05316021 -0.04061110 -0.03725313
+v -0.05281114 -0.04158867 -0.03698803
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+v -0.06032977 -0.04953264 -0.02620396
+v -0.05737904 -0.04708966 -0.03020548
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+v -0.05466830 -0.04727567 -0.03217122
+v -0.05657454 -0.04911313 -0.02956524
+v -0.06032977 -0.05987213 -0.01793586
+v -0.06007615 -0.06000310 -0.01806591
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+v -0.03249692 -0.06000304 -0.03618780
+v -0.03584308 -0.06000304 -0.03468723
+v -0.03822657 -0.06000305 -0.03354179
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+v -0.04487253 -0.06000306 -0.02970033
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+v -0.04911318 -0.05668313 -0.02960529
+v -0.04866321 -0.05249570 -0.03301656
+v -0.05293386 -0.05299114 -0.02965529
+v -0.05101397 -0.05108724 -0.03233130
+v -0.05241025 -0.04865756 -0.03298654
+v -0.05804991 -0.05052160 -0.02737442
+v -0.05952254 -0.05193387 -0.02517858
+v -0.06032977 -0.05002049 -0.02585883
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+v -0.05701088 -0.05333852 -0.02620899
+v -0.05434104 -0.05056335 -0.03026051
+v -0.06032977 -0.05984176 -0.01796587
+v -0.06001070 -0.06000310 -0.01813094
+v -0.04024736 -0.06000305 -0.03241136
+v -0.04303719 -0.06000306 -0.03078074
+v -0.04522160 -0.06000306 -0.02948025
+v -0.04704058 -0.05753161 -0.03028555
+v -0.04704058 -0.05941462 -0.02876998
+v -0.04971860 -0.06000307 -0.02647411
+v -0.05052037 -0.05814094 -0.02740445
+v -0.05329656 -0.05708745 -0.02622400
+v -0.05162485 -0.05550245 -0.02869493
+v -0.05054491 -0.05439770 -0.03030054
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+v -0.06032977 -0.05155992 -0.02474342
+v -0.06032977 -0.05387762 -0.02302277
+v -0.05842352 -0.05472041 -0.02397314
+v -0.06032977 -0.05933874 -0.01843105
+v -0.05994252 -0.06000310 -0.01819096
+v -0.05983889 -0.05610231 -0.02171229
+v -0.05865805 -0.05871042 -0.02046682
+v -0.04558976 -0.06000306 -0.02924516
+v -0.04697786 -0.06000307 -0.02831481
+v -0.05174211 -0.06000308 -0.02497354
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+v -0.05603458 -0.05988731 -0.02169729
+v -0.05398652 -0.06000308 -0.02322287
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce75d1bf4a154634eb688adac320b48be6176c66
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_17.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.00015972 0.09806646 0.00621790
+v 0.00015972 0.08905376 0.00621787
+v 0.00015972 0.09828981 0.00687148
+v 0.00077944 0.09806960 0.00621790
+v 0.03401555 0.08246648 0.00621784
+v 0.00015972 0.09997264 0.05037880
+v 0.00192608 0.09829295 0.00686594
+v 0.00015972 0.11459426 0.05780639
+v 0.00192608 0.09807275 0.00621790
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+v 0.03401555 0.09441088 0.05163056
+v 0.00015972 0.10099187 0.05408980
+v 0.00569079 0.09822060 0.00707642
+v 0.00340412 0.09801927 0.00621790
+v 0.00192608 0.11459741 0.05780639
+v 0.00569079 0.11454708 0.05780639
+v 0.00015972 0.11436461 0.05931849
+v 0.03378026 0.09242291 0.00621788
+v 0.03401555 0.09284129 0.00761366
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+v 0.00015972 0.10134420 0.05521418
+v 0.00869658 0.09812307 0.00736444
+v 0.00569079 0.09793119 0.00621790
+v 0.00945880 0.11438034 0.05780639
+v 0.00192608 0.11410351 0.06104659
+v 0.00569079 0.11408778 0.06103552
+v 0.00945880 0.11400598 0.06096351
+v 0.00015972 0.11410037 0.06104105
+v 0.03209674 0.09300803 0.00621788
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+v 0.00015972 0.10166191 0.05622778
+v 0.03401555 0.09668527 0.05782295
+v 0.01120528 0.09800983 0.00770784
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+v 0.00958142 0.09765751 0.00621790
+v 0.01322351 0.11380152 0.06074749
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+v 0.01322351 0.11400915 0.05780639
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+v 0.01988796 0.11326359 0.05890861
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+v 0.01806858 0.11294272 0.05643276
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+v 0.00015972 0.10944458 0.06251435
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+v 0.00015972 0.10456547 0.06055914
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+v 0.02452094 0.09627019 0.00953010
+v 0.00015972 0.10609431 0.06146197
+v 0.02459053 0.09512515 0.00621789
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e3a36111794e4cf8a5bf0457de8cb2d4d9c0f34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.06015247 0.00000623 -0.03076902
+v 0.06015247 0.03414728 -0.02339588
+v 0.03227657 0.00000628 -0.04263871
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+v 0.03527809 0.03414741 -0.06043551
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+v 0.04335763 0.00000634 -0.06105796
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+v 0.04712044 0.00568093 -0.06142223
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357b488574a455181e9f31fe98e0ab4483e9bb0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_19.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573298664076f28ac2f79cf1cee1bbe98e94d825
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_2.obj
@@ -0,0 +1,1114 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40d3c702193f6e70080055ec283a2328632587e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_20.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b1e56611d5a5c1368f51875ac2973dce278b8ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_21.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd9c43d6e69563be8322c6e030be25478b18c84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ca8925aad9ff426909cba492ceac78aa59ab57
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad91c6c684ba91198de4a1beee917c451a2fb1ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_24.obj
@@ -0,0 +1,46 @@
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+v -0.02438861 0.03732810 -0.06127788
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+v -0.03272159 0.03579372 -0.06074774
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+f 1 4 5
+f 1 5 2
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+f 2 11 6
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+f 8 13 14
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+f 11 16 12
+f 12 16 15
+f 12 15 13
+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72032051609b98005afb07ee8baff7c6f4ad5ccb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_25.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03247237 -0.03235861 -0.06186505
+v -0.03244676 -0.03235861 -0.06187253
+v -0.03247237 -0.03572487 -0.06107584
+v -0.03247237 -0.03235870 -0.03881315
+v -0.03162726 -0.03235861 -0.06207825
+v -0.02820841 -0.03578439 -0.06218299
+v -0.03218427 -0.03601170 -0.06107584
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+v -0.01314370 -0.04332055 -0.06219798
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+v -0.01112376 -0.06000302 -0.04208981
+v -0.01314370 -0.06000302 -0.04180928
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a9dca5beb70df4a5374dedaeae5e985fa6ce680
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_26.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.05999359 0.07258499 0.02453633
+v -0.05999359 0.08393415 0.02453637
+v -0.03277961 0.08829669 0.02453638
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+v -0.05802766 0.08535188 0.02453637
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+v -0.05364029 0.08823473 0.02453638
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+v -0.04703924 0.09198498 0.02453640
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+v -0.04335246 0.10608931 0.05796181
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+v -0.05999359 0.08859905 0.06212404
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef4829d7c8000d97361cd58584860d57ac0e06a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.10992700 -0.03186796 0.05762842
+v -0.10934945 -0.03186796 0.05581862
+v -0.10909750 -0.03362229 0.05624286
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ad09662c25944d493b5d16d506e536a60fc95c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_28.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00015972 0.07505880 -0.02906953
+v 0.00015972 0.06233780 -0.02906958
+v 0.00015972 0.07503294 -0.02910184
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+v -0.05014272 0.03733167 -0.02906967
+v 0.00015972 0.04943593 -0.05984327
+v -0.00184814 0.04942485 -0.05982388
+v -0.00277847 0.07500339 -0.02906953
+v 0.00015972 0.03733177 -0.05627971
+v -0.05999359 0.03733167 -0.02906967
+v 0.00015972 0.04713848 -0.06158146
+v -0.00184814 0.04713848 -0.06156854
+v -0.00561067 0.04713848 -0.06135531
+v -0.00561067 0.04928080 -0.05960419
+v -0.00561067 0.07484456 -0.02906954
+v -0.02439385 0.03733179 -0.06127780
+v 0.00015972 0.04118797 -0.05956545
+v -0.05999359 0.04605981 -0.02906964
+v -0.05999359 0.03733169 -0.03405484
+v 0.00015972 0.04337094 -0.06130362
+v -0.00937908 0.04337094 -0.06185933
+v -0.01314749 0.04337094 -0.06207579
+v -0.01691002 0.04337094 -0.06191748
+v -0.00936730 0.04744135 -0.06066068
+v -0.01314749 0.04669523 -0.06071883
+v -0.00810724 0.04912936 -0.05935864
+v -0.01314749 0.07395808 -0.02906954
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+v -0.00890803 0.07453430 -0.02906954
+v -0.02818582 0.03733179 -0.06146518
+v -0.02067843 0.03960340 -0.06182703
+v 0.00015972 0.04220743 -0.06038283
+v -0.05999359 0.04573107 -0.02928934
+v -0.05971684 0.04640332 -0.02906964
+v -0.03155384 0.03733178 -0.06044424
+v -0.05999359 0.03761610 -0.03391592
+v -0.02444685 0.03960340 -0.06191426
+v -0.01691002 0.04610794 -0.06026328
+v -0.02078442 0.04362210 -0.06083515
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+v -0.01691002 0.07324890 -0.02906954
+v -0.01543209 0.07352962 -0.02906954
+v -0.05999359 0.04537279 -0.02952196
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+v -0.05999359 0.04036049 -0.03242003
+v -0.05999359 0.04116941 -0.03196448
+v -0.05999359 0.04502928 -0.02973196
+v -0.05702597 0.04960573 -0.02906963
+v -0.03101802 0.03847313 -0.06002746
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+v -0.02820937 0.06996153 -0.02906955
+v -0.02455872 0.07121738 -0.02906955
+v -0.02444685 0.07125432 -0.02906955
+v -0.02265685 0.07181206 -0.02906955
+v -0.02206804 0.07198197 -0.02906955
+v -0.05524186 0.05152644 -0.02906962
+v -0.02685510 0.04182698 -0.05967206
+v -0.05457649 0.05222454 -0.02906962
+v -0.05336354 0.05346931 -0.02906961
+v -0.05140278 0.05533830 -0.02906961
+v -0.05066088 0.05603641 -0.02906960
+v -0.04948325 0.05711127 -0.02906960
+v -0.04703967 0.05917233 -0.02906959
+v -0.04626243 0.05982242 -0.02906959
+v -0.04535566 0.06055746 -0.02906959
+v -0.04443122 0.06124078 -0.02906959
+v -0.04333602 0.06203492 -0.02906958
+v -0.03876093 0.06505265 -0.02906957
+v -0.03574031 0.06670372 -0.02906956
+v -0.03429183 0.06743506 -0.02906956
+v -0.03359114 0.06777858 -0.02906956
+v -0.03322018 0.06794848 -0.02906956
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+v -0.04122806 0.06351608 -0.02906958
+v -0.04087478 0.06375987 -0.02906958
+v -0.04073935 0.06384851 -0.02906958
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+f 1 12 7
+f 1 7 3
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+f 61 80 72
+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396d8284e79d9057c7717f6d7c801ad746bdb75c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_29.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.00015972 0.07080165 -0.03323303
+v 0.00015972 0.04943351 -0.05984484
+v 0.00015972 0.05661357 -0.03323308
+v 0.00192732 0.07080165 -0.03323303
+v 0.00192732 0.04944428 -0.05986179
+v 0.00015972 0.04714060 -0.06158224
+v 0.00015972 0.03414734 -0.04218849
+v 0.04581787 0.03414731 -0.03323316
+v 0.00286691 0.07075141 -0.03323303
+v 0.00569155 0.07057917 -0.03323303
+v 0.00569155 0.04931151 -0.05966404
+v 0.00569155 0.04714060 -0.06140991
+v 0.00192732 0.04714060 -0.06159354
+v 0.00015972 0.04336932 -0.06130540
+v 0.01322588 0.04336932 -0.06209075
+v 0.00946165 0.04336932 -0.06187323
+v 0.00015972 0.03414739 -0.05500279
+v 0.06015247 0.03414731 -0.03323316
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+v 0.02997405 0.03414742 -0.06206818
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba0e2def00de995b9a69a8bfa98b20281adfa0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_3.obj
@@ -0,0 +1,1294 @@
+# https://github.com/mikedh/trimesh
+v 0.06994744 -0.08087799 0.04662862
+v 0.07043179 -0.08047132 0.04662862
+v 0.06994744 -0.07012824 0.04662866
+v 0.06994744 -0.07952690 0.03923353
+v 0.07181079 -0.07931004 0.04662863
+v 0.09279206 -0.03472048 0.04662879
+v 0.06994744 -0.03472026 -0.01303167
+v 0.06994744 -0.07917896 0.03752038
+v 0.07102103 -0.07860510 0.03923353
+v 0.07354458 -0.07779178 0.04662863
+v 0.10146406 -0.03472048 0.04662879
+v 0.06994744 -0.03472021 -0.02629430
+v 0.06994744 -0.07876777 0.03552170
+v 0.07057987 -0.07822101 0.03552170
+v 0.07265301 -0.07633675 0.03552171
+v 0.07565783 -0.07566804 0.04662864
+v 0.07494210 -0.07492696 0.03923354
+v 0.10115556 -0.03562872 0.04662879
+v 0.10047377 -0.03578234 0.04294552
+v 0.10103216 -0.03472047 0.04412331
+v 0.07105805 -0.03472022 -0.02521645
+v 0.07079274 -0.03578209 -0.02495948
+v 0.06994744 -0.03578209 -0.02577322
+v 0.06994744 -0.07854635 0.03452951
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+v 0.09948348 -0.03472044 0.03552186
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c2f2db61eec586552f0b25116ffa1cc681cdd7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d02427ab6c5ca8b64b65e71dd46799088d24bc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_31.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a052f51826200afd8c9bbc878559e05d43ed066a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2d0e508a5f73559b67239a1a82f00a4fc99a23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_33.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b1c63445b7e7cdcdede24172e3db8b9c7241bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_34.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4138341910316b3b27cdad33b974d0d9b9f153
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_35.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2d31d42826189896e141822e9e4c2639ab5f74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_36.obj
@@ -0,0 +1,889 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf62cee9ddeead765c6d99474f111c621b7c64ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_37.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b268e46795884eb145da91e24b00ab9955e1eaba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_38.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1452497b23786dc6660c92008bb408bbb6497b5f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_39.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bca406fe0257aa3f5f21b6b8d5aa04932947fbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_4.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4992a8ef793f74760dc772f5bb36b13f1d306d7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_40.obj
@@ -0,0 +1,709 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f49f87e116f92b4e9ddbe48100e7ccde186503
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_41.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75806182112fd56e838af7cfd3829720ace60615
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_42.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779b3b2409f1ec39cfaeba21b889f89026d903fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_43.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab83ee3b129521f22ddd6ee03d31158b738106ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_44.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e6373d54c3b680067f3ded8e272fb955d4776c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_45.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03958898 -0.02447202 -0.06209711
+v 0.04258099 -0.02447203 -0.06048847
+v 0.03967847 -0.02822074 -0.06079369
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+v 0.03582365 -0.02824181 -0.06206480
+v 0.04335432 -0.01317107 -0.06202884
+v 0.04335432 -0.01693665 -0.06200013
+v 0.04363123 -0.02086247 -0.06094807
+v 0.04186169 -0.02694727 -0.05976674
+v 0.04613864 -0.01693666 -0.06038790
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+v 0.03848133 -0.03107128 -0.06008633
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+v 0.03348846 -0.03544829 -0.06059982
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+v 0.03348846 -0.02827134 -0.06110967
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+v 0.04712135 -0.00563148 -0.06142198
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+v 0.05073641 -0.00563151 -0.05482945
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+v 0.05073641 0.00000632 -0.05566606
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f4e0413d00f35f16465912ab9141eef8eb1c2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00023080 0.00000631 -0.05281663
+v 0.00023080 -0.02759083 -0.05392567
+v 0.00023080 0.00000628 -0.04440547
+v 0.03348677 0.00000632 -0.05495472
+v 0.03348677 -0.02759081 -0.06080846
+v 0.00023080 -0.02759087 -0.04336824
+v 0.03348677 -0.02759088 -0.03990843
+v 0.03348677 0.00000628 -0.04241675
+f 1 2 6
+f 1 6 3
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+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 8 7
+f 4 7 5
+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0452dd87c8a835918455e8bbbedee17f7578286b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_47.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.06994744 -0.04307238 -0.01251201
+v 0.06994744 -0.03557074 -0.01251198
+v 0.06541359 -0.04307238 -0.01251201
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+v 0.06994744 0.00000620 -0.02235909
+v 0.05073641 -0.04307234 -0.02541776
+v 0.05073641 0.00000626 -0.03676030
+v 0.06891318 -0.04307235 -0.02272677
+v 0.06994744 -0.04210671 -0.02228742
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+v 0.06872136 -0.04307235 -0.02291687
+v 0.06994744 -0.03976639 -0.02365615
+v 0.06749153 -0.04085432 -0.02543887
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b832ee5e5c5eab98bd5cc82448d5b3f3ed13fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_48.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
+v 0.06015247 0.03415185 -0.02339734
+v 0.04581897 0.03415188 -0.03323316
+v 0.06015247 0.03415188 -0.03323316
+v 0.06015247 0.04534677 -0.01660128
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_49.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a49768ea8054379d2096e20ab1ddf1e66f3de0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_49.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e68f5202b562307d943833b303bc750ac724864
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_50.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62e326de25d75d8932640af092444e44079c6ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_50.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_51.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da76dd3996eb85449d031d6751816b803f4be1d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_51.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_52.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfc7c4fd8363cd7f1a4e20a5894485045c7e6f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_52.obj
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_53.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3650282a77ddadb86a18a9fd975b4149af4c7f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_53.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03348677 -0.05161219 -0.03015096
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7ffad0d036f9a7a271168ab9e818224b13f007
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_6.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1eb1fdd8f279cd69ef2942a48c74108274ec2c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_7.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
+v 0.09226059 -0.03472034 0.00687780
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diff --git a/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50e9d6ef114ec4b770ab7621bed5398f7c7b2dd8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/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/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f43e2a7bde14c135e2ecfde181afc1a0645b40f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mjcf/mesh/fruit_bowl_collision_9.obj
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