diff --git a/.gitattributes b/.gitattributes
index a88ec491b95afd51c85cb3b5537c13b8453f9204..7727d3fb900e014d4595d8fc207f4d9c0bbc6852 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4392,3 +4392,6 @@ dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/mesh/tray_07
 dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/tray_077.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.urdf b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b630a624bbefcbf692f15d38486d8daa92b5bb82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.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>0.80</mu1>
+            <mu2>0.60</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>0.241450</scale>
+         <version>v0.1.7</version>
+         <category>empty bowl</category>
+         <description>smooth, round bowl with a slightly tapered base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260117143949</generate_time>
+         <gs_model>mesh/empty_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.290615558624268</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/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.usd b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5a3e3d82062bb350c932d14416953abe4bb7ac4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a31be2d13f9ba243eaa7e985aa200cf7ed9dbe2c52de87cc4ac9f160bf91bf
+size 628955
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.glb b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4cb2bed0328d6be5c986bcb8311b58e4fd4a651b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:950ece506a3961cb0b3eca623edafe01fd19234d092f45e79ee01d27d412965c
+size 1020452
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3575c23f81da992bfc4b8ca77c503669e03a6f16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.obj
@@ -0,0 +1,38090 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14484e4c4c21089c540451ed9ec8ce6af149ef84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_collision.obj
@@ -0,0 +1,26756 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_gs.ply b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eab191877b7fa765e38b7547df897568ba342369
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_gs.ply
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39fea874056ec352c0017c9d26446a614f6f7ad3
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/d8b7f7554d5b529eb777a5556f20ce82.xml b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/d8b7f7554d5b529eb777a5556f20ce82.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c8a9e797ec11814afee2564de06025bc3c288a11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/d8b7f7554d5b529eb777a5556f20ce82.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="empty_bowl">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/empty_bowl.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_2" file="mesh/empty_bowl_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/empty_bowl_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/empty_bowl_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/empty_bowl_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/empty_bowl_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/empty_bowl_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_11" file="mesh/empty_bowl_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_26" file="mesh/empty_bowl_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/empty_bowl_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/empty_bowl_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_32" file="mesh/empty_bowl_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/empty_bowl_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/empty_bowl_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/empty_bowl_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_42" file="mesh/empty_bowl_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/empty_bowl_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/empty_bowl_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/empty_bowl_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/empty_bowl_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/empty_bowl_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/empty_bowl_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/empty_bowl_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/empty_bowl_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/empty_bowl_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/empty_bowl_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/empty_bowl_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/empty_bowl_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/empty_bowl_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/empty_bowl_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="empty_bowl">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" 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/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360cb4acf1b1cba579a307e81431fb027c193b02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl.obj
@@ -0,0 +1,38090 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.090866 -0.010774 -0.004177
+v 0.093540 0.004735 -0.000513
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+v 0.092956 0.009449 -0.000959
+v 0.090955 0.010726 -0.003976
+v 0.088134 0.004580 -0.008174
+v 0.088232 0.009746 -0.007682
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+v 0.086947 0.013718 -0.008512
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+v 0.087134 0.017061 -0.007708
+v 0.080855 0.015709 -0.014732
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62a04676442458e3bc9b0863f290ad7bae047651
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision.obj
@@ -0,0 +1,26756 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc54b3a356d35358e327c401a37ef0dbac82326
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1220531dd0cb7c7ac2190e5e92b2c0929d8b6302
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_1.obj
@@ -0,0 +1,1144 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2228314a52066e972b815401f46e517f6ade31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2909343fb86b3898905db3dca670618afaf0da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af012061128736ec923555c2c9bd9124bfb4b8b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85c00c7a1feb49c40ff41c2fcb34a473051f2d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b648ed454bb524f7d521973577dc0a54d6892dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48892e670b60066aa6c97310f202767e03c1344a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_15.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb18853491cff2128d2ad9237b0df6ae10836714
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_16.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60754b3f76e301bc94f6e0bb12e50a23331da5e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e62efcf1553b8e9ccff34819b691dde62a39051
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_18.obj
@@ -0,0 +1,394 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22bc669b3dd17591d5466984a6698ee5c550fc99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_19.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7763d3345f97aa36e536e8d8cb033cd7f326c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a847f462d1347e3ce1c3df5ff49b347c4c1a288
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c8751235cded2127785b8915b2ad3c2b754842
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_21.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d073b3b8fbd10ab673ec73025a9637975e7b4e67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_22.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
+v 0.04200270 0.09012315 -0.00346244
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0640e99fe56d11eafb3a309dbb1db92954f40305
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa7dd89c934ac2d620b4be83cfa5d5d086c50cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709d52ee03364a9741bebf34949838e957aeeba9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_25.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8539c881716c572e4f427c83172779c3dea08cff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_26.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b14d29c02bc533a091b963ea93bdec0474abc32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb297032089ac7ce6ea0477f9c860ebd771ab78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15efd1eced7085b002e99793ee4a44e927e7ebeb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107408f086df98c2a2941c0073b8e98218f14733
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe314ec1171959c43a5f6cfd53a25f7323c944bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_30.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7f93d1b0edd62e92b6bb78a5debfdb81df7484a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_31.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7921dd953a5139e4cd9b45a560453b223b61de4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88d2bcd8eeb78a722e2221341d114f572c1b791
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_33.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d05bf1e1e5c29945e7409b0a359cec9bae1aece
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_34.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75710efaf8c53e610e2a51142a2555860754a57f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_35.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cff0cc052c5197fb53600d9e0f6267a72f6c62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_36.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea7b30cf967cb5e03eb0adf23ee596e27e2ee6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_37.obj
@@ -0,0 +1,337 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5bd4037d29c19f2feaa6dbfe1eb0240ec177229
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.06367412 0.02774315 -0.03253186
+v -0.06367412 0.02850867 -0.03232991
+v -0.05404153 0.02774318 -0.03964643
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+v -0.06367412 0.03146353 -0.03150554
+v -0.05310648 0.02970316 -0.03964642
+v -0.03235747 0.02774318 -0.03964643
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+v -0.06367412 0.03406988 -0.03063814
+v -0.06367412 0.05817338 -0.00582478
+v -0.03235747 0.02774316 -0.03480627
+v -0.05257303 0.03054017 -0.03964642
+v -0.06367412 0.03566051 -0.03008857
+v -0.06367412 0.03796899 -0.02927745
+v -0.06367412 0.04021194 -0.02846964
+v -0.06367412 0.04089108 -0.02821142
+v -0.06367412 0.04304170 -0.02736388
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+v -0.06367412 0.04818291 -0.02517883
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+v -0.05803007 0.05817345 -0.02339768
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b61550a9abb2ea9590cd8abeaee3efdecf5d4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_39.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.05754633 -0.03236414 -0.03472373
+v -0.04866113 -0.03236411 -0.04466363
+v -0.05729486 -0.03285410 -0.03472373
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+v -0.03070072 -0.05745374 -0.03472382
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363138c5d2e17b02d612440a24a552b8a4b88980
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_4.obj
@@ -0,0 +1,868 @@
+# https://github.com/mikedh/trimesh
+v -0.00196799 0.09974840 -0.00202550
+v -0.00046308 0.09974433 -0.00202550
+v -0.00046308 0.09930888 -0.00334072
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2c37e67a06d2e7c351f7cbf87b737eb60d2e0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_40.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03095528 -0.03236096 -0.03412626
+v -0.05791399 -0.03236100 -0.02364295
+v -0.03095528 -0.03236094 -0.04172261
+v -0.03095528 0.00016748 -0.03756238
+v -0.05791399 -0.03236096 -0.03450522
+v -0.05791399 0.00016745 -0.02906545
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+v -0.05241932 -0.02564122 -0.04539302
+v -0.05227945 -0.02591829 -0.04539303
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+v -0.05033705 -0.02935776 -0.04539304
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73617a15b61ea941f1c55e9bc65f2226835d6ea7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_41.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03451776 -0.06718358 -0.01661026
+v -0.00045965 -0.06718356 -0.02232057
+v 0.03451776 -0.06718354 -0.02754454
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e861ecc03101236809683e774b7c8a229c7e4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_42.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.03451776 -0.02679062 -0.03521824
+v 0.03451776 -0.02679062 -0.03436079
+v 0.05687163 -0.02679062 -0.03521824
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+v 0.03451776 -0.06718358 -0.01661112
+v 0.05687163 -0.06718363 -0.00325182
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93b09e8f05bf8d5e04692227e7f53a99698d31b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_43.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.00046307 0.05625429 -0.04649415
+v -0.00046307 0.05537322 -0.04954185
+v -0.00046307 0.04722513 -0.04649419
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+v 0.00201493 0.05536939 -0.04952234
+v 0.00201493 0.05423358 -0.05326734
+v -0.00046307 0.05424316 -0.05326734
+v -0.00046307 0.04435400 -0.05669705
+v 0.02433152 0.03668860 -0.05715058
+v 0.02433152 0.03761181 -0.05452224
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+v 0.00311195 0.05618917 -0.04649415
+v 0.00404150 0.05587887 -0.04740114
+v 0.00599527 0.05394628 -0.05326734
+v 0.00583751 0.05249250 -0.05743172
+v 0.00201493 0.05284876 -0.05718628
+v -0.00046307 0.05372026 -0.05474812
+v -0.00046307 0.04401880 -0.05791775
+v -0.00046307 0.04381578 -0.05943591
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+v 0.00669668 0.05575438 -0.04698991
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+v 0.00997803 0.05336783 -0.05326734
+v 0.00997803 0.05232395 -0.05633943
+v 0.00440313 0.05193705 -0.05921319
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+v -0.00046307 0.05253656 -0.05798599
+v -0.00046307 0.05285834 -0.05718628
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+v 0.01390983 0.05110576 -0.05704649
+v 0.01793628 0.04841656 -0.05986501
+v 0.02000654 0.04397285 -0.06307851
+v -0.00046307 0.04990865 -0.06123850
+v -0.00046307 0.05121303 -0.06004542
+v 0.01408457 0.04561051 -0.06262013
+v 0.01793628 0.04405905 -0.06309801
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b998f944e162cb7521cb82f3dec0043383a98142
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_44.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03235747 0.05817348 -0.03388594
+v -0.02977245 0.04861578 -0.04518991
+v -0.03141774 0.04768182 -0.04518991
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+v -0.03235747 0.03651958 -0.04518996
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+v -0.00046308 0.03099031 -0.03748596
+v -0.00046308 0.05817346 -0.02806341
+v -0.02996913 0.05817349 -0.03458103
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..099f7781666a9bd688780a082488ba4b19801e6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_45.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03425260 -0.03236414 -0.03472208
+v -0.03425260 -0.05551188 -0.03472216
+v -0.03425260 -0.03236415 -0.03342846
+v -0.02783871 -0.03236414 -0.03472208
+v -0.03380935 -0.05578326 -0.03472216
+v -0.03425260 -0.05749229 -0.03365926
+v -0.03425260 -0.06536871 -0.01788865
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+v -0.03425260 -0.06020605 -0.03214813
+v -0.03425260 -0.06536867 -0.02889679
+v -0.00046308 -0.06536865 -0.03437285
+v -0.00046308 -0.06483881 -0.03472220
+v -0.03380935 -0.06032235 -0.03221734
+v -0.03008142 -0.05776365 -0.03472217
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+v -0.03425260 -0.06182139 -0.03115938
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+v -0.02584739 -0.05974729 -0.03472218
+v -0.03157656 -0.06536867 -0.02970592
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+v -0.00992679 -0.06536866 -0.03394933
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+v -0.02584739 -0.06406347 -0.03210200
+v -0.02584739 -0.06536867 -0.03125662
+v -0.02650565 -0.06536867 -0.03109018
+v -0.02869213 -0.06536867 -0.03052000
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+v -0.02111057 -0.06536866 -0.03229316
+v -0.01772335 -0.06536866 -0.03291608
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae5582c20c77336c96fce4194868176e8ae0849
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_46.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c57e14875121fe730b812b85132f522e3fdf811
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_47.obj
@@ -0,0 +1,241 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da98f300ce813ec2d9cde10909694bdac41a098
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_48.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.04200270 0.02858394 -0.03183189
+v 0.02376801 0.04530435 -0.03183182
+v 0.04200270 0.05541123 -0.03183179
+v 0.04200270 0.05705938 -0.02032267
+v 0.02376801 0.06645619 -0.02032264
+v 0.02376801 0.06518122 -0.03183175
+v 0.04058726 0.05645820 -0.03183178
+v 0.04200270 0.05710088 -0.03089446
+v 0.04200270 0.07394564 -0.02032261
+v 0.02376801 0.08153358 -0.02032258
+v 0.02376801 0.06659098 -0.03090345
+v 0.02589920 0.06622299 -0.03066349
+v 0.02524414 0.06467328 -0.03183175
+v 0.03992327 0.05690912 -0.03183178
+v 0.04179922 0.05773321 -0.03062184
+v 0.04200270 0.05736522 -0.03074688
+v 0.04200270 0.07313192 -0.02091632
+v 0.04181885 0.07404930 -0.02032261
+v 0.02589920 0.08092199 -0.02032258
+v 0.02589920 0.08057473 -0.02059859
+v 0.02376801 0.08088053 -0.02083743
+v 0.02376801 0.07108983 -0.02786167
+v 0.02589920 0.06914621 -0.02870324
+v 0.02793579 0.06384918 -0.03172248
+v 0.02704868 0.06401504 -0.03183175
+v 0.02589920 0.06444523 -0.03183175
+v 0.02987956 0.07037976 -0.02684888
+v 0.02987956 0.06838948 -0.02818276
+v 0.03783849 0.05830854 -0.03183178
+v 0.03783849 0.05918965 -0.03133270
+v 0.04200270 0.05774358 -0.03053171
+v 0.04144045 0.06172412 -0.02844527
+v 0.04200270 0.06146497 -0.02837429
+v 0.04200270 0.07153555 -0.02201136
+v 0.04181885 0.07318375 -0.02095237
+v 0.04055513 0.07473865 -0.02032261
+v 0.02807144 0.08022227 -0.02032259
+v 0.02614016 0.07755822 -0.02278530
+v 0.02376801 0.07811280 -0.02290809
+v 0.02376801 0.07148893 -0.02758791
+v 0.02589920 0.07113648 -0.02734570
+v 0.02762878 0.07567679 -0.02381161
+v 0.02987956 0.07326150 -0.02488975
+v 0.03058817 0.06322203 -0.03133832
+v 0.02816604 0.06355893 -0.03183176
+v 0.03210892 0.06792301 -0.02786619
+v 0.03385813 0.07241149 -0.02430281
+v 0.03616959 0.05940215 -0.03183177
+v 0.03583760 0.05984271 -0.03170559
+v 0.03986080 0.06384916 -0.02780199
+v 0.04200270 0.06237719 -0.02784142
+v 0.03871667 0.07121422 -0.02348605
+v 0.04200270 0.06992364 -0.02311428
+v 0.03938780 0.07534506 -0.02032260
+v 0.02895497 0.07992166 -0.02032259
+v 0.02376801 0.07706584 -0.02367529
+v 0.02497461 0.07610180 -0.02411241
+v 0.02376801 0.07628321 -0.02424084
+v 0.02614016 0.07412189 -0.02522885
+v 0.02987956 0.07525179 -0.02350969
+v 0.03005983 0.07806615 -0.02139397
+v 0.03360289 0.06589128 -0.02869987
+v 0.03424903 0.06187444 -0.03100372
+v 0.03347259 0.06092596 -0.03183177
+v 0.03218745 0.06158939 -0.03183176
+v 0.03011517 0.06263117 -0.03183176
+v 0.03360289 0.06946755 -0.02635544
+v 0.03475951 0.06726995 -0.02743809
+v 0.03606250 0.07189319 -0.02394344
+v 0.03385813 0.07440176 -0.02291261
+v 0.03569659 0.05970277 -0.03183177
+v 0.03783849 0.06443484 -0.02817826
+v 0.04200270 0.06600529 -0.02563670
+v 0.04200270 0.06578242 -0.02577415
+v 0.04200270 0.06504644 -0.02622478
+v 0.04110845 0.06856051 -0.02436817
+v 0.03790810 0.07380572 -0.02194376
+v 0.04200270 0.06962821 -0.02331368
+v 0.03756897 0.06985108 -0.02478499
+v 0.03709953 0.07637130 -0.02040146
+v 0.03715844 0.07644386 -0.02032260
+v 0.03105938 0.07912867 -0.02032259
+v 0.03252123 0.07852743 -0.02032259
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+v 0.03783849 0.06642512 -0.02691875
+v 0.03683001 0.07659416 -0.02032260
+v 0.03385813 0.07794693 -0.02032259
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+f 80 87 86
+f 83 87 84
+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_49.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f9b44b4b073ad3dac38487623f2f3f00f3c30da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_49.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.06367412 0.02774314 -0.03253590
+v -0.06367412 0.02600232 -0.03300262
+v -0.06367412 0.02774310 -0.02159980
+v -0.05172689 0.02774319 -0.04497055
+v -0.05178513 0.02763794 -0.04497055
+v -0.05264968 0.02606175 -0.04497055
+v -0.05277844 0.02579185 -0.04497056
+v -0.05467001 0.02180820 -0.04497057
+v -0.05469760 0.02174612 -0.04497057
+v -0.05554988 0.01960585 -0.04497058
+v -0.05611091 0.01786503 -0.04497058
+v -0.05714407 0.01410809 -0.04497060
+v -0.05723297 0.01367355 -0.04497060
+v -0.05795036 0.01014063 -0.04497061
+v -0.06367412 0.02431547 -0.03343276
+v -0.06367412 0.00017062 -0.02574098
+v -0.03235747 0.00017067 -0.03726963
+v -0.03235747 0.02774315 -0.03480548
+v -0.04069018 0.02774319 -0.04497055
+v -0.05844395 0.00615697 -0.04497063
+v -0.06367412 0.01404597 -0.03566349
+v -0.06367412 0.01808630 -0.03484898
+v -0.06367412 0.01892028 -0.03467510
+v -0.06367412 0.02198088 -0.03400931
+v -0.06367412 0.00017067 -0.03676172
+v -0.03235747 0.00017070 -0.04494549
+v -0.03235747 0.02774318 -0.04248820
+v -0.03235747 0.02288777 -0.04324551
+v -0.03235747 0.02209698 -0.04335761
+v -0.03235747 0.02090134 -0.04352692
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+v -0.06367412 0.00615693 -0.03658324
+v -0.06367412 0.00152554 -0.03677315
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910ea22b4b5abd343f02b2bebb2299a6765cabd6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_5.obj
@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
+v -0.00045881 -0.06718352 -0.03317972
+v -0.00045881 -0.06718356 -0.02231714
+v 0.00196510 -0.06718352 -0.03317057
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+v -0.00045881 -0.06841659 -0.03236876
+v -0.00045881 -0.08801197 -0.00203715
+v 0.04313320 -0.07751018 -0.00203711
+v 0.04313320 -0.06718359 -0.01273198
+v 0.00599785 -0.06718352 -0.03298765
+v 0.00599785 -0.06827640 -0.03227121
+v 0.00599785 -0.07026461 -0.03092063
+v 0.00201631 -0.07039525 -0.03100600
+v -0.00045881 -0.07040480 -0.03101209
+v -0.00045881 -0.09973408 -0.00203720
+v 0.04313320 -0.09031561 -0.00203716
+v 0.04313320 -0.06718355 -0.02446649
+v 0.00997938 -0.06718352 -0.03268583
+v 0.00997938 -0.06804380 -0.03211572
+v 0.00997938 -0.07003201 -0.03075905
+v 0.00997938 -0.07281996 -0.02879874
+v 0.00599785 -0.07303662 -0.02896032
+v 0.00201631 -0.07318000 -0.02904568
+v -0.00045881 -0.07319275 -0.02905483
+v -0.00045881 -0.07145626 -0.03027430
+v -0.00045881 -0.09936129 -0.00311949
+v 0.00201631 -0.09973089 -0.00203720
+v 0.04313320 -0.09011806 -0.00259813
+v 0.04219863 -0.09077123 -0.00203716
+v 0.04313320 -0.06778575 -0.02409150
+v 0.04181882 -0.06818084 -0.02434454
+v 0.04172921 -0.06718355 -0.02499392
+v 0.01304341 -0.06718352 -0.03233828
+v 0.01395664 -0.06770288 -0.03189316
+v 0.01395664 -0.06969109 -0.03052430
+v 0.01395664 -0.07251409 -0.02856398
+v 0.01395664 -0.07450229 -0.02715853
+v 0.00997938 -0.07480817 -0.02736889
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+v 0.00201631 -0.07517140 -0.02763109
+v -0.00045881 -0.07394471 -0.02852130
+v -0.00045881 -0.09910321 -0.00386033
+v 0.00201631 -0.09909683 -0.00385118
+v 0.00599785 -0.09902036 -0.00362558
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+v 0.04313320 -0.08843253 -0.00604012
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+v 0.04134941 -0.09115995 -0.00203716
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+v 0.00201631 -0.07737945 -0.02603356
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_50.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96313de2aeb002c206409b19c41bff92e4e4d61a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_50.obj
@@ -0,0 +1,280 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_51.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5361b994fba1a9217b3e22bca92276b9d4ee206
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_51.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00201619 0.02520733 -0.04649427
+v 0.00295332 0.02510613 -0.04649427
+v 0.00201619 0.02206549 -0.04699191
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+v 0.00201619 0.01949019 -0.04732090
+v -0.00046307 0.01944318 -0.04731619
+v -0.00046307 0.01706787 -0.04649430
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+v 0.00201619 0.01750134 -0.04754685
+v -0.00046307 0.01869178 -0.04740149
+v -0.00046307 0.01706787 -0.04757518
+v 0.01973480 0.01706787 -0.04649430
+v 0.00997394 0.02368382 -0.04649427
+v 0.00599605 0.01719218 -0.04750998
+v 0.01025469 0.01804158 -0.04723924
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+v 0.00863744 0.01706787 -0.04742597
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+v 0.01395579 0.01808859 -0.04698038
+v 0.00201619 0.01706787 -0.04758608
+v -0.00017640 0.01706787 -0.04757646
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+v 0.01912388 0.01778421 -0.04649429
+v 0.00599605 0.01706787 -0.04752142
+v 0.00675723 0.01706787 -0.04749555
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+v 0.01793566 0.01898660 -0.04649429
+v 0.01886291 0.01808859 -0.04649429
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+f 30 39 40
+f 30 40 31
+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_52.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..766c1a72b9383f08e1f5dd28ccb5de7f520cd8ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_52.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00046308 -0.02679424 -0.04666111
+v -0.00046308 -0.04758900 -0.04668025
+v -0.00046308 -0.02679427 -0.03833535
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+v -0.00046308 -0.05632989 -0.04668029
+v -0.00046308 -0.04033115 -0.03521829
+v 0.03092742 -0.02679428 -0.03521824
+v 0.04954395 -0.02679424 -0.04668018
+v 0.00201763 -0.05630797 -0.04668029
+v 0.00102423 -0.06409920 -0.03521838
+v -0.00046308 -0.06410651 -0.03521838
+v 0.05687382 -0.02679428 -0.03521824
+v 0.05687382 -0.02679428 -0.03643681
+v 0.05687382 -0.02964703 -0.03564239
+v 0.05687382 -0.03081224 -0.03531250
+v 0.05687382 -0.03113367 -0.03521825
+v 0.04945415 -0.02696226 -0.04668018
+v 0.00599687 -0.05598288 -0.04668029
+v 0.00599687 -0.06379238 -0.03521837
+v 0.00386974 -0.06394579 -0.03521837
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+v 0.05566153 -0.03326319 -0.03521826
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+v 0.02153216 -0.06058167 -0.03521836
+v 0.01794018 -0.06168478 -0.03521837
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+v 0.02593233 -0.05883202 -0.03521836
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+v 0.04368454 -0.04748312 -0.03521831
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+v 0.02579763 -0.04978792 -0.04668026
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+v 0.04159670 -0.04916701 -0.03521832
+v 0.03561943 -0.04338841 -0.04668024
+v 0.03588322 -0.04316194 -0.04668024
+v 0.02880590 -0.04809307 -0.04668026
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+v 0.03881854 -0.05123808 -0.03521833
+v 0.03697765 -0.05252383 -0.03521833
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_53.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec7f1dd2e90cc65bba189ed03873adf4caacd14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05687382 -0.02678637 -0.02533157
+v 0.03482620 -0.02678633 -0.03428288
+v 0.05687382 -0.02678633 -0.03643459
+v 0.05687382 0.01706351 -0.02771541
+v 0.03482620 0.01706354 -0.03590684
+v 0.03482620 -0.02678630 -0.04250384
+v 0.04994333 -0.02678629 -0.04544102
+v 0.05059732 -0.02557134 -0.04544101
+v 0.05065775 -0.02545543 -0.04544101
+v 0.05166139 -0.02339044 -0.04544101
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+v 0.05238659 -0.02160450 -0.04544100
+v 0.05376794 -0.01772353 -0.04544099
+v 0.05377226 -0.01771065 -0.04544099
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_54.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6d3b2a2a717f89bdffd8f1af40d95beceea2f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_54.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_55.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0202ec236a52002bd299a54ed3d93904e8fc34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_55.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_56.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c081891839ae235e85a35da28286374e097e6de0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.01164951 -0.03463142 -0.04452502
+v -0.01164951 -0.03236432 -0.04552502
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+v -0.00046307 -0.03236432 -0.04452502
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b300391dc8e57cd2a471b0318c0957abc7d3be18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_6.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8031a7f1c1e60c7221865b175610c1c2809c0f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_7.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a2bdb805dc43dfc0a1ac9a5efe8b1c85b1472b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_8.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d69263b027471be87d1ea8c211d8947fa9ed78cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mjcf/mesh/empty_bowl_collision_9.obj
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