diff --git a/.gitattributes b/.gitattributes
index a9a2f7e16e6c1ff767461976119b9f159f377f41..0993436d606992c5e30f42bf959e30d6c0df00f0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4231,5 +4231,6 @@ dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray_gs
 dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.urdf b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62401b3031ede5feca4298ffb645e7d93c27559d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="empty_bowl">
+   <link name="empty_bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/empty_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/empty_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="0.3000" />
+         <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>0.270435</scale>
+         <version>v0.1.7</version>
+         <category>empty bowl</category>
+         <description>wooden bowl with smooth surface and rounded edges</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260117144304</generate_time>
+         <gs_model>mesh/empty_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.993072032928467</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.usd b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4101f08d1ab441754caa2e9981ada6c886ab719b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/6fa83f0992b95dfeaeeab1d9863c2289.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a521b92f4ab8f881c368086d5f33d48f9cd7e589a562b696722b4a1356c8f5f7
+size 860101
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.glb b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..00145a0ebf10ab2d29cd4ba53cde00eb800eab9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e54e40afc3ea44c7e41f4e39b9e8089ca28c775c1ca625fb780336cb4ad095
+size 2837844
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6069eb279c15e69f76dc03abef0cbb982c48ab15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl.obj
@@ -0,0 +1,53332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..305f675234aeba71eb274d3427b1a6904ea9a544
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_collision.obj
@@ -0,0 +1,30358 @@
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_gs.ply b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0de9dfd97de5eae5ae0af74814effad10d2de692
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/empty_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8715aac6158c4ef2f9f5018b75dcddada2891571ee4a48db9ce173ac6ad375e
+size 3277033
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/material.mtl b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/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/6fa83f0992b95dfeaeeab1d9863c2289/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:80151c842e35c29b214f7206145f87055f791f504f1cca4601b92249aa539f7c
+size 2254338
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/6fa83f0992b95dfeaeeab1d9863c2289.xml b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/6fa83f0992b95dfeaeeab1d9863c2289.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f6188b1b3082f29c33b6e8dbf46327d33b125708
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+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/6fa83f0992b95dfeaeeab1d9863c2289.xml
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43306c572e10d66ea7fb39853cc6f0a35dc4eb0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl.obj
@@ -0,0 +1,53332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327db250cd0a53a3ef304422c75644f06dbecdcf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision.obj
@@ -0,0 +1,30358 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660bb58b38913f8d960e6ab0c36c9b9f6f1ef0ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_0.obj
@@ -0,0 +1,1903 @@
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c386f2708f718c0ab0c25ebd379c761dc4ee41cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81428de6c55cf5a537b4fa4e2c79b5f02e4e53c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1235ed273549502e5914753425f706fe5777c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3979d93294751603e1582893d08420610606999d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..669e65c5a65d144a99e4de2999ef97406eed8b08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a83ea1a0e24b852569f0a299cbdd4e2df874c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1818186732b350d4633075f6f30f5135837d4c62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef24accff1321f10e02c0ca3b1e13e409ec2aaca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66feb97d154f638bc35b0e82f0d6b6982e6a70d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1ed31b071bca77494859f3d955bf7b1370ef4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096ae7ec0dcac955f6f60b89d4297d76bab56fcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ab9259ae6ef6bb66d8aa1e174e6c373ca27b21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eae08fc6277c932f245eb7b261d69d26f2e297d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7000075167c08862c66d2e8eb26e69bc1cdbe5ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578852a03ac67f6ae8dd41a71a35c866776b84b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd22c4c92cd148a48b423d3f04b744b3438410e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826d9bf543433f66dc4486a1b725f8723735865d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0de968d304237b2ebd34b96dd5b0cbffeb0ea5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac8d2c2f3be003b75e2fc991d353a9cc5f2c656
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_26.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a46fed3a8e86883dd1f581cbbf215ebf028c92c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_27.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48326511d88d6f703dcec701a1a5b60d81b078d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_28.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7bc99787665515af29a0df03ebf27299acaa72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_29.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb636be36f989c2a9910d6bad9941f26b0972c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169e3e57362742440bc7c91330954cc263342573
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..816f6fc15ce585b38c3d632f9803ad6ad139f357
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_31.obj
@@ -0,0 +1,916 @@
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c03dbb4b34dc5849d16a279238a4e554497e6b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_32.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e464353d9ccaddf140a9d7351852b337e8801a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_33.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf776c28d31c9a53acf44f5d85b360465db02cba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_34.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d9b81d1c09bc027c80ceb645412dee3aab9c5f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_4.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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+v 0.08503975 0.05387884 0.01344777
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997497b4c085fba9dfaf0dae2fccc629061e2b0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f62eae1d22bfdd2e00c97422c51f8b0b23cf6e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d2084322256184372d89fb8afa1de392207624
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2dee8db3dc0e5160e135c078da33a2882def74f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_8.obj
@@ -0,0 +1,1138 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa40a759fbafc7876c2ad2888d59144036738f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6fa83f0992b95dfeaeeab1d9863c2289/mjcf/mesh/empty_bowl_collision_9.obj
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