diff --git a/.gitattributes b/.gitattributes
index 986263675bf044855737b3b1aa77b2e2d3514a3d..abd68742cb05813e21eb80e594f01e66272aeaf0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4225,3 +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/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.urdf b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d022e573b7fc7e39f77bd874a7b465e158896ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.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>0.70</mu1>
+            <mu2>0.50</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>0.276929</scale>
+         <version>v0.1.7</version>
+         <category>empty bowl</category>
+         <description>smooth ceramic bowl with a wide base and narrow rim</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>20260117145526</generate_time>
+         <gs_model>mesh/empty_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.16261625289917</ImageAestheticChecker>
+         <overall>NO</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/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.usd b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b3d2f5e905f8cac4044a5afadeea0a29d11dbc0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725aec855c3d99572d3a0bd5fddf045b99fe7293246d4529a76b04dcdb30668c
+size 363505
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.glb b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fc89c39c4d5abc9addcab40bb5f5ea20906be1e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532e12d3d858eaeb1a28100d11872d399b85d974c48d73aec0d8b4ef9a9608d3
+size 2286908
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e447e757ce39e5a2e6a055f47502ea274e6d95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.obj
@@ -0,0 +1,22172 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114d77d22f6af698cd4778da0a3a08c48f8ffb78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_collision.obj
@@ -0,0 +1,22286 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_gs.ply b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f512a289055b41d021a885be4f153f5de8cd96df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 6044554
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/material.mtl b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1a483542368e0acd26a3b1a9cd82e9d2e5e3a3e3e20b60277d75150db9fee8c6
+size 2043283
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/6d34ad0c38805d90a8a188414ad2e413.xml b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/6d34ad0c38805d90a8a188414ad2e413.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5655241100ce876acbb3cc494ae5469acb9facd6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/6d34ad0c38805d90a8a188414ad2e413.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/empty_bowl_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/empty_bowl_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/empty_bowl_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/empty_bowl_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/empty_bowl_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/empty_bowl_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/empty_bowl_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/empty_bowl_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/empty_bowl_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/empty_bowl_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/empty_bowl_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/empty_bowl_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/empty_bowl_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/empty_bowl_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/empty_bowl_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/empty_bowl_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/empty_bowl_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/empty_bowl_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/empty_bowl_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/empty_bowl_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_27" file="mesh/empty_bowl_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_29" file="mesh/empty_bowl_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/empty_bowl_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/empty_bowl_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_36" file="mesh/empty_bowl_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/empty_bowl_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/empty_bowl_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/empty_bowl_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/empty_bowl_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/empty_bowl_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
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+      <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" />
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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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb499e1e3c5452a43b8257764f9f7aabff5ce886
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl.obj
@@ -0,0 +1,22172 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39919d45314e52d98dac34d280bb828b1638f839
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision.obj
@@ -0,0 +1,22286 @@
+# https://github.com/mikedh/trimesh
+
+o empty_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0ba2f60421878c09d4ed889a46b113f24e3b73
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c34e89902c14a7659c52b11f2ef394c01f6dcd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_1.obj
@@ -0,0 +1,2407 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd893fbad444780426514e6c79424e26b8760de9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa94838f282c844eaa77f3fae5b2d1b61ad32f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_11.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2118c7b9d4840320896f2573e7e3df657671b2e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_12.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a80f8516ade9ca84322b089321f140823fb4f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e24c0ac4e621445d75019f5a6dfe8e52ea19f46b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_14.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f7c1ac44bfd646ac59afda4220730eda1f453e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_15.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe5764cd13bd881216a5bf11b9268c176e0c60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be23cf68994ad52c2508135a8d4af1b7a43999fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_17.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9495f3e12b4e7e51679465b05357546a26449a68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_18.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286882367ebb9bc9365c9cff632cf30117e9c723
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc0fd5451590d7e67a6cc52b0430bd2e5499326
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a3d63289bd47885a9d447135369c64a59a9697
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_20.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f9d096253e2460a62ae48a00bc57cf4552643b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_21.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+f 1 7 3
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62fe7a36e0e8e0dc2ef9da96280b186c3e163fdf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_22.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.04640493 0.06248488 -0.00705337
+v 0.00060695 0.07159408 -0.00915973
+v 0.03688760 0.06248488 -0.00915697
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+v 0.04640493 0.12138928 -0.00200172
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+v 0.00060695 0.12664097 0.00815411
+v 0.00060695 0.12968848 -0.00203791
+v 0.00222979 0.12967520 -0.00203791
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+v 0.00678896 0.12985447 -0.00650423
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+v 0.03413954 0.12377942 0.00593068
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+v 0.03049937 0.12267063 0.00878099
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+v 0.00678896 0.11696074 0.01930456
+v 0.00222979 0.12662769 0.00813461
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+v 0.00060695 0.12771656 0.00671363
+v 0.00060695 0.12923034 0.00242841
+v 0.00222979 0.12921706 0.00242841
+v 0.00678896 0.13008022 -0.00915951
+v 0.00678896 0.12900460 0.00242841
+v 0.01134814 0.12911749 -0.00203792
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+v 0.03869872 0.12427742 -0.00915953
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+v 0.01134814 0.11678148 0.01930456
+v 0.00678896 0.12654138 0.00797300
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+v 0.01134814 0.12972833 -0.00915951
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+v 0.01134814 0.12864607 0.00242841
+v 0.01628837 0.12804853 0.00279619
+v 0.01590732 0.12859298 -0.00203792
+v 0.03685173 0.12479529 -0.00915953
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+v 0.02958036 0.12616298 -0.00203793
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+v 0.02060547 0.12743772 0.00279619
+v 0.01917540 0.12780288 0.00155075
+v 0.02046649 0.12575130 0.00689194
+v 0.01134814 0.12640196 0.00765258
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+v 0.01590732 0.11636320 0.01930456
+v 0.02046649 0.11574574 0.01930456
+v 0.02167689 0.11550672 0.01930455
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+v 0.01590732 0.12919055 -0.00915952
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+v 0.03229256 0.12601029 -0.00915953
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+v 0.02221485 0.12755723 -0.00089278
+v 0.02046649 0.12849341 -0.00915952
+v 0.02527223 0.12761037 -0.00915952
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12699494e3b3918f63ffc99f6876eefbc19509e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_23.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03627234 0.08206210 0.00031210
+v -0.06684319 0.06287261 0.00031203
+v -0.03627234 0.12450098 0.00031226
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+v -0.06684319 0.08449314 0.02009773
+v -0.06684319 0.11255656 0.00031221
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+v -0.03627234 0.12444066 0.00103667
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+v -0.06684319 0.11253847 0.00068604
+v -0.06610398 0.11297280 0.00031221
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+v -0.03627234 0.12433809 0.00226080
+v -0.04114153 0.12308334 0.00031225
+v -0.04071058 0.12298077 0.00325056
+v -0.03627234 0.12221462 0.00773646
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+v -0.06684319 0.11242383 0.00262683
+v -0.06577179 0.11302106 0.00268882
+v -0.06384147 0.11396816 0.00435263
+v -0.06399709 0.11404659 0.00137366
+v -0.06404498 0.11407072 0.00031222
+v -0.03627234 0.12402439 0.00415317
+v -0.04588203 0.12146058 0.00031225
+v -0.04792308 0.12060998 0.00242930
+v -0.04291922 0.12234735 0.00202836
+v -0.03767294 0.12342717 0.00534630
+v -0.05118218 0.11890277 0.00540440
+v -0.03627234 0.12361418 0.00567364
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+v -0.04879996 0.11790136 0.00838143
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+v -0.05703897 0.11723781 0.00031223
+v -0.05951995 0.11613989 0.00031223
+v -0.05205306 0.11925267 0.00031224
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76237ac5c7729e777727319a38d5ee2e45786edf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_24.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.09975694 -0.00019697 0.00264163
+v 0.07241596 -0.06258348 0.00264140
+v 0.11297772 -0.00019703 0.01928202
+v 0.13665814 -0.00019697 0.00264163
+v 0.09024074 -0.06258354 0.01928179
+v 0.11971390 -0.06258348 0.00264140
+v 0.12616077 -0.00019703 0.01928202
+v 0.13654493 -0.00019697 0.00343985
+v 0.13655121 -0.00214503 0.00344473
+v 0.13665814 -0.00214503 0.00264162
+v 0.10732336 -0.06258354 0.01928179
+v 0.12041834 -0.06133770 0.00264140
+v 0.11897173 -0.06258349 0.00537978
+v 0.12613561 -0.00214509 0.01928201
+v 0.13466433 -0.00214505 0.00689498
+v 0.13466433 -0.00019699 0.00689499
+v 0.13574614 -0.00019698 0.00491574
+v 0.13451338 -0.00669457 0.00689497
+v 0.13422406 -0.01125020 0.00689495
+v 0.13607320 -0.01125018 0.00264159
+v 0.13651977 -0.00556480 0.00264161
+v 0.10824163 -0.06115456 0.01928180
+v 0.11707226 -0.06258350 0.00770927
+v 0.12247505 -0.05760038 0.00264142
+v 0.12328641 -0.05499280 0.00509473
+v 0.11931766 -0.06133771 0.00585219
+v 0.11750625 -0.06133772 0.00808557
+v 0.12582113 -0.00669461 0.01928200
+v 0.13350075 -0.01580583 0.00728915
+v 0.13341898 -0.02036146 0.00655446
+v 0.13558890 -0.01558597 0.00264157
+v 0.11062540 -0.05709968 0.01928181
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a82a0c333275d8518e8f2963381b34556cbeb6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_25.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946a805e2232b79186e72ad96bb211b659ce33d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_26.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6655ce00577a29c83c700581548410698b39c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_27.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3a4530754e7227715b0f9b14be8bb893421b44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_28.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16938b204e480e0447346c8156123739748cd9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_29.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f330edd6c3b0602f80150cdcde549823f4550dcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_3.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a877faf1793ac35c3e3623593c42e0d79d39493f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_30.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b517130fa05c3f6f2eb1a6ea92683acc0ebeb665
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_31.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f438494b1c223a2241fcfe6ffb502b98b758d56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_32.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4d35171595305a0984c7c58ce99324c8a0b42d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_33.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75b320905d55ef5641c976615223e65032c68a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_34.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ba52dbe78a2e917aac199f5960bf3ed30be3d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_35.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b805f44ab07cb036028343559e4724907f37061
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_36.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71953b65d06eef6841c06ba4c5a4ef14caa1643
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_37.obj
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+f 482 484 483
+f 487 488 490
+f 487 490 493
+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e8eb48ab933f59c443af7c5e8243307899fb28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_38.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.06869858 -0.03402384 -0.00917869
+v 0.07567260 -0.03402384 -0.00917985
+v 0.06594294 -0.03800792 -0.00917987
+v 0.03638593 -0.06258343 -0.00917996
+v 0.09209316 -0.03402388 0.00264151
+v 0.13278594 -0.03402384 -0.00917985
+v 0.07241679 -0.06258347 0.00264140
+v 0.12053658 -0.06258343 -0.00917996
+v 0.13190830 -0.03402388 0.00264151
+v 0.13278594 -0.03402384 -0.00910695
+v 0.13275764 -0.03414966 -0.00917986
+v 0.11971556 -0.06258347 0.00264140
+v 0.12126325 -0.06133928 -0.00917996
+v 0.12047053 -0.06258343 -0.00745813
+v 0.13176674 -0.03451036 0.00264150
+v 0.13171955 -0.03477597 0.00242743
+v 0.13193661 -0.03402388 0.00242744
+v 0.13275764 -0.03402384 -0.00844043
+v 0.13214423 -0.03620181 -0.00917986
+v 0.11978161 -0.06258347 0.00242733
+v 0.12048940 -0.06133932 0.00242733
+v 0.12041390 -0.06133932 0.00264140
+v 0.12115000 -0.06133929 -0.00650465
+v 0.12043278 -0.06258344 -0.00650465
+v 0.12279206 -0.05857978 -0.00917995
+v 0.13045499 -0.03855316 0.00264149
+v 0.13053992 -0.03857273 0.00242742
+v 0.13193661 -0.03553362 -0.00203914
+v 0.13238015 -0.03402386 -0.00203913
+v 0.13264439 -0.03402385 -0.00650454
+v 0.13143645 -0.03835461 -0.00917987
+v 0.13097402 -0.03857271 -0.00203915
+v 0.13121939 -0.03857270 -0.00650456
+v 0.12022516 -0.06258345 -0.00203924
+v 0.12094238 -0.06133930 -0.00203924
+v 0.12240513 -0.05783053 0.00242735
+v 0.12247120 -0.05760407 0.00264142
+v 0.12273544 -0.05846236 -0.00650463
+v 0.12395281 -0.05630396 -0.00917994
+v 0.12889786 -0.04312716 0.00264147
+v 0.12895449 -0.04312716 0.00242740
+v 0.13245565 -0.03402386 -0.00330157
+v 0.12975664 -0.04312712 -0.00917989
+v 0.12962452 -0.04312713 -0.00650458
+v 0.12938859 -0.04312714 -0.00203917
+v 0.12262218 -0.05825548 -0.00203922
+v 0.12356590 -0.05555471 0.00242736
+v 0.12354702 -0.05550998 0.00264143
+v 0.12378295 -0.05597686 -0.00203922
+v 0.12594405 -0.05223041 -0.00917992
+v 0.12582136 -0.05223042 -0.00650461
+v 0.12784091 -0.04597893 0.00264146
+v 0.12785034 -0.04601807 0.00242739
+v 0.12819008 -0.04685120 -0.00650459
+v 0.12825613 -0.04699658 -0.00917990
+v 0.12806739 -0.04655486 -0.00203918
+v 0.12558544 -0.05223043 -0.00203920
+v 0.12515133 -0.05223045 0.00242737
+v 0.12507583 -0.05223045 0.00264144
+v 0.12651971 -0.05098625 -0.00917992
+v 0.12731243 -0.04927240 -0.00917991
+v 0.12725581 -0.04912703 -0.00650460
+v 0.12697269 -0.04805065 0.00264145
+v 0.12690664 -0.04829669 0.00242738
+v 0.12713313 -0.04882788 -0.00203919
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 17
+f 1 17 29
+f 1 29 42
+f 1 42 30
+f 1 30 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 19
+f 2 19 31
+f 2 31 43
+f 2 43 55
+f 2 55 61
+f 2 61 60
+f 2 60 50
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+f 2 4 3
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+f 31 33 44
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+f 36 47 48
+f 36 48 37
+f 38 39 49
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+f 40 52 41
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+f 43 54 55
+f 44 45 54
+f 45 53 56
+f 45 56 54
+f 46 49 47
+f 47 49 57
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 49 51 57
+f 50 60 51
+f 51 60 61
+f 51 61 62
+f 51 62 57
+f 52 63 64
+f 52 64 53
+f 53 64 65
+f 53 65 56
+f 54 56 62
+f 54 62 55
+f 55 62 61
+f 56 65 62
+f 57 62 65
+f 57 65 58
+f 58 65 64
+f 58 64 63
+f 58 63 59
+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdc1a7f8c55489f7346e7110922bf63cbd4a24d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_39.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.06816351 0.03281407 -0.00915987
+v 0.09300806 0.03281403 0.00303854
+v 0.13308145 0.03281407 -0.00915987
+v 0.07858110 -0.00019371 -0.00915999
+v 0.10023853 -0.00019375 0.00304320
+v 0.09404099 0.03034531 0.00304331
+v 0.09915804 0.03281403 0.00304332
+v 0.13300670 0.03281407 -0.00763208
+v 0.13344841 0.03140522 -0.00915987
+v 0.13758690 -0.00019371 -0.00915999
+v 0.13660155 -0.00019375 0.00304320
+v 0.13214367 0.03281403 0.00304332
+v 0.13294554 0.03281406 -0.00650446
+v 0.13373382 0.02973786 -0.00650447
+v 0.13387653 0.02973787 -0.00915988
+v 0.13757332 0.00241719 -0.00915998
+v 0.13743061 0.00241718 -0.00650457
+v 0.13743740 -0.00019372 -0.00650458
+v 0.13668310 -0.00019375 0.00248536
+v 0.13660155 0.00241715 0.00304321
+v 0.13226599 0.03237780 0.00304332
+v 0.13232035 0.03281403 0.00172099
+v 0.13271449 0.03281405 -0.00270112
+v 0.13345520 0.02973785 -0.00203936
+v 0.13446774 0.02518171 -0.00203938
+v 0.13473957 0.02518172 -0.00650449
+v 0.13447454 0.02703003 -0.00915989
+v 0.13735585 0.00697010 -0.00915996
+v 0.13721315 0.00697009 -0.00650455
+v 0.13690735 0.00716719 -0.00183040
+v 0.13714519 0.00241717 -0.00203946
+v 0.13715199 -0.00019373 -0.00203947
+v 0.13685978 -0.00019374 0.00120484
+v 0.13685978 0.00241716 0.00120007
+v 0.13679183 0.00578095 0.00070913
+v 0.13658117 0.00289861 0.00304321
+v 0.13235433 0.03271709 0.00164693
+v 0.13276885 0.03037439 0.00304331
+v 0.13284361 0.03018051 0.00285218
+v 0.13238151 0.03281404 0.00109387
+v 0.13266692 0.03281405 -0.00203935
+v 0.13402603 0.02518169 0.00242692
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+v 0.13557542 0.02062881 -0.00650450
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+v 0.13702967 -0.00019374 -0.00065742
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+v 0.13371343 0.02597982 0.00304330
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+v 0.13601713 0.01607912 -0.00203941
+v 0.13456288 0.02141399 0.00304328
+v 0.13609868 0.01819565 -0.00915992
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+v 0.13681221 0.01331315 -0.00915994
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+v 0.13686657 0.01149715 -0.00687842
+v 0.13663553 0.01299647 -0.00563970
+v 0.13654719 0.01149713 -0.00183039
+v 0.13609868 0.01152296 0.00242687
+v 0.13583365 0.01152296 0.00304324
+v 0.13526962 0.01676091 0.00304326
+v 0.13641127 0.01614700 -0.00915993
+v 0.13674425 0.01394648 -0.00915994
+f 1 2 7
+f 1 7 12
+f 1 12 22
+f 1 22 40
+f 1 40 41
+f 1 41 23
+f 1 23 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 27
+f 1 27 46
+f 1 46 58
+f 1 58 57
+f 1 57 67
+f 1 67 68
+f 1 68 59
+f 1 59 47
+f 1 47 28
+f 1 28 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 9
+f 4 10 18
+f 4 18 32
+f 4 32 50
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+f 4 33 19
+f 4 19 11
+f 4 11 5
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+f 5 20 36
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+f 20 34 35
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+f 23 41 24
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+f 24 42 25
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+f 29 49 30
+f 30 49 35
+f 30 35 31
+f 31 35 34
+f 31 34 32
+f 32 34 50
+f 33 50 34
+f 35 49 51
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+f 35 52 36
+f 38 53 42
+f 38 42 39
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+f 45 57 58
+f 47 59 60
+f 47 60 61
+f 47 61 48
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+f 48 62 63
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+f 48 61 60
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+f 49 54 64
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+f 55 63 62
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+f 60 68 67
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25e7c6652b32c1614d6492470b00a8751613b8df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_4.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.08511389 -0.06838013 0.01928340
+v 0.08511389 -0.08640209 0.05602090
+v 0.08511389 -0.08691077 0.01928333
+v 0.04724479 -0.09519739 0.01928330
+v 0.04724479 -0.10862432 0.05647674
+v 0.08511389 -0.08828684 0.05911006
+v 0.04915400 -0.10879567 0.05876484
+v 0.08428718 -0.08768959 0.01928333
+v 0.08511389 -0.09561802 0.03776713
+v 0.04724479 -0.10853592 0.01928325
+v 0.04724479 -0.11069079 0.05948493
+v 0.08511389 -0.08854644 0.05934013
+v 0.04724479 -0.11158902 0.06055442
+v 0.08511389 -0.09786622 0.04258621
+v 0.08415744 -0.09856715 0.04257342
+v 0.08254850 -0.10042593 0.04403065
+v 0.08029823 -0.09049852 0.01928332
+v 0.04773785 -0.10841131 0.01928325
+v 0.04724479 -0.11747683 0.04246257
+v 0.08511389 -0.08892027 0.05957875
+v 0.04973232 -0.11359838 0.06277008
+v 0.04724479 -0.11224323 0.06091233
+v 0.08511389 -0.09965231 0.04646789
+v 0.08155868 -0.09973537 0.04105227
+v 0.08511389 -0.10047787 0.04840660
+v 0.08348643 -0.10106457 0.04708998
+v 0.07970137 -0.10352563 0.04682153
+v 0.07726574 -0.10448098 0.04515551
+v 0.07991639 -0.10154743 0.04257341
+v 0.07779216 -0.09219635 0.01928331
+v 0.05480749 -0.11376964 0.04024690
+v 0.05238298 -0.11564920 0.04262449
+v 0.04777492 -0.11738855 0.04269692
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+v 0.04724479 -0.11776239 0.04322527
+v 0.08511389 -0.09262745 0.06186684
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+v 0.04782311 -0.12122038 0.05602077
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a0d642c99ff4f762086980980ad1310e72c74a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_40.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03689756 0.06247824 -0.00915856
+v 0.07286775 0.06247820 0.00304343
+v 0.03889381 0.06247824 -0.00915976
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+v 0.12053298 0.06247824 -0.00844783
+v 0.12106971 0.06161584 -0.00915976
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+v 0.13300955 0.03281697 -0.00763208
+v 0.13214325 0.03281693 0.00304332
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+v 0.13203968 0.03613298 -0.00650445
+v 0.13294364 0.03281696 -0.00650446
+v 0.13232216 0.03281693 0.00172099
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+v 0.12466673 0.05314572 0.00304340
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+v 0.12913005 0.04485860 -0.00915983
+v 0.12724679 0.04941160 -0.00915981
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b013a2349579c0a496bf00c515398a4ff2e565c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_41.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.07851324 -0.00019694 -0.00917973
+v 0.06870021 -0.03401443 -0.00917985
+v 0.06869347 -0.03402105 -0.00917869
+v 0.09975794 -0.00019698 0.00264163
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+v 0.13666300 -0.00019698 0.00264163
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+v 0.13758699 -0.00214043 -0.00917974
+v 0.13279175 -0.03402105 -0.00917985
+v 0.13190824 -0.03402109 0.00264151
+v 0.13666300 -0.00214047 0.00264162
+v 0.13686533 -0.00214046 0.00120908
+v 0.13685859 -0.00019697 0.00120562
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+v 0.13724977 -0.00669623 -0.00650444
+v 0.13747908 -0.00486861 -0.00917975
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+v 0.13540855 -0.02035369 -0.00203908
+v 0.13646742 -0.01607930 -0.00917979
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+
diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db61a92f63f31352e8d5bd5526bdb09bb9ea5222
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_5.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v 0.13085339 0.04369365 0.05602337
+v 0.13080447 0.04369365 0.05624076
+v 0.13006186 0.04369367 0.05156456
+v 0.12776284 0.05056171 0.05327820
+v 0.12910578 0.04795835 0.05602339
+v 0.12780731 0.05068729 0.05862792
+v 0.12896793 0.04369364 0.06058022
+v 0.12839428 0.04795834 0.05941225
+v 0.12852325 0.04369369 0.04711854
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+v 0.12728258 0.04949413 0.05029855
+v 0.12641989 0.05225161 0.05169673
+v 0.12394301 0.05714431 0.05177348
+v 0.12315592 0.05953641 0.05340611
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+v 0.12395190 0.05706435 0.05941228
+v 0.12657553 0.04442440 0.06240040
+v 0.12794071 0.04369363 0.06148391
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+v 0.12840763 0.04369369 0.04681589
+v 0.12736707 0.04506958 0.04547740
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+v 0.12440992 0.05279400 0.04685855
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+v 0.12270678 0.05871431 0.05042647
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0ad599077b7d657d2e5cf52d841f5c9f3dab70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490c2334bdd042d72a5fe99fce48140327e7302d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_7.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073401b85120512fc556d40268b3333216dd1067
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_8.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805350d5dbdfa83fd8d8b0254ae9f887ec12c949
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mjcf/mesh/empty_bowl_collision_9.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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