diff --git a/.gitattributes b/.gitattributes
index d4a83cb04241cf5fd469e1c5a8d3985ccb8798fb..0a09eed70f126acb2b99ab176dff3b4ffecfc80c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4399,3 +4399,6 @@ dataset/kitchen_supplies/tableware/def24dd643fc54d59f60712ef5123660/mesh/empty_b
 dataset/kitchen_supplies/tableware/de6944db19be512d80d237a9f3991d02/de6944db19be512d80d237a9f3991d02.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/de6944db19be512d80d237a9f3991d02/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/de6944db19be512d80d237a9f3991d02/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.urdf b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d0f1cf0fda33cd98bf90844ccadc7971b1ebde2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.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="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.275137</scale>
+         <version>v0.1.7</version>
+         <category>empty bowl</category>
+         <description>simple ceramic bowl with smooth surface and rounded edges</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260117145210</generate_time>
+         <gs_model>mesh/empty_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.834767818450928</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.usd b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.usd
new file mode 100644
index 0000000000000000000000000000000000000000..209dea9fda921105cbd11d7a7ecfb009ff70cec1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46af474895593e7a0f14f92edb647d4a37bf744fa38a486bd6bfe0e4fb36c67f
+size 478938
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.glb b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4108952eb406e7f2f2e98026ecf5629579b52f4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea0d1a3b7f5a2f3be65b266925e7b6a75093fc030563ed314025fbed72cb26b
+size 2096800
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f552b722cb6642fcd1e29a189746270aea97791
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.obj
@@ -0,0 +1,28998 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc776eef05400d6b9b6ea0ad0f1adbdf4c98500
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_gs.ply b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5c631aa65070408df02074e241124d4bf97152df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ada6ec119c633854754e122235beecffb014dd74928be2a507c0e3f44c30302
+size 3481769
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/material.mtl b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/material_0.png b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22ebab7c589acfea642f2b01f3e7ee976ff56026
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f664d9f18c778c8c26f578ef622b366e2e89b096dab4e95ddfa5430f14b985
+size 1778110
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/e406ae5790b35c089e8b0735604f2763.xml b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/e406ae5790b35c089e8b0735604f2763.xml
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index 0000000000000000000000000000000000000000..367211c93494bcf6f3a6f32e655589c169d66957
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/e406ae5790b35c089e8b0735604f2763.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="empty_bowl">
+  <asset>
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+  </asset>
+  <worldbody>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d39f792dc65301bdfa720d949e3d33d502d34aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl.obj
@@ -0,0 +1,28998 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940bfdcfc3f0551fc261876545495e5d31cb982b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision.obj
@@ -0,0 +1,22818 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b20850c54ccb5db964d0faa014d06cb894683869
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_0.obj
@@ -0,0 +1,778 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc79277ac4b4cf68c46c25e120401eb59f4790b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_1.obj
@@ -0,0 +1,682 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43abc564b9d0598f0e1c08f1e4026ee26ba92c21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a659ae548ccc5a00196a57a815bd28caae21e2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_11.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62ed676aa6a136e2dbe9dabf7ae3fabc132a006
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_12.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243d47db9980edc448efd789b58010d18857e03f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33315aee6258ba3544b989df4f657a89ba41bc02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75b76843604f9c2ee2e0b38bb2846da34a7e399
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_15.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146267139774cef351d7c9cdb17fd011d669a051
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7a27c31e8ab76b65d464bb554eca06def63f40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0072a5b46ae1b69de02f33750fcdc08376608165
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_18.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be37e5164bf0c4d29b34f46daf07050184a5c526
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_19.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb5d5098bbf6b799f6eb2bd72ab36794f690d7e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_2.obj
@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee365cc5ae4b9d81ab3b1275125dc54494f55003
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_20.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466bedb13f80736dbdf5da5002dac0cc331805d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v 0.01209411 -0.04511656 -0.05884613
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+v -0.00177533 -0.04511658 -0.05374961
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+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5404f0ff3c6f6c669792efb1fa70e9e1944d54a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_22.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04744571 -0.06238970 -0.02863720
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+v -0.04744571 -0.06238966 -0.04000798
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd001d0c8bf5d841370f5a75a31ff59252a08ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3bfc0ccbbf49b698d76a920f613a551ed48666c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03fed4382a2e9a7194c2c22ae6f6cef4c285d1f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_25.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b7718bba37d9b5478e70570b014e5c773f773b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_26.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+v -0.10201202 0.05720099 0.02711123
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0add9c6190a90c2cf7611ce20e191e6605b01a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_27.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v 0.10835978 -0.00214733 -0.01541484
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab461bc271af13b4ccdcbc79c2dd7aefbb0f1e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58272b20ecf96678cfbd5888b360844ed03ba2d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b3697f5dbc4371d2c0b9575f0e2000c80335fea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1b85c5a8eec189b542c3c8767dcff127d7eb81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_30.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57068e2f9c394ad30f6a3d25805397c10fa1abfb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_31.obj
@@ -0,0 +1,916 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf3c2b5265ced555fe0ee74db53f9a8ff9c31c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_32.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b74ad25b2f7e4cbfb0248e54bdf1ba85103e330a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_33.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6bb5e4f9f3a2e076cd6109adf21147d4b257aad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_34.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ba71c56608731fa512d8ed7d1bc06ab46db9b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d56218b8187b23258b3b7a2906bf1ab937c769
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_36.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.11578411 0.06136528 0.05595521
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+v 0.09227093 0.08065745 0.01430826
+v 0.09013737 0.08307407 0.01430827
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+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9eff4ab862f072837d77c3cd300bff3eda1f0cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_37.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00177533 0.04631559 -0.05416891
+v -0.00177533 0.00028893 -0.05272205
+v -0.00177533 0.04631554 -0.03973834
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+v 0.05062549 0.00028889 -0.04161753
+v 0.01748515 0.04631561 -0.06111785
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+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f547bb808e2cbc3afb1d3eab3c6de18ee6ee2834
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_38.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.11390598 0.00028867 0.01873218
+v 0.12261640 0.00028856 0.04893117
+v 0.12450690 0.00028867 0.01873218
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6010d6b4f42a5d78b72eb1b94343202d705b0570
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_39.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6e58a3f5841472c75457ac263f6d1283c1779a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_4.obj
@@ -0,0 +1,1204 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6445db835206a8e2dcc1bac6481b22894755ddb4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_40.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d727500b791b7d34d9b57f5a1b2d5bd18a0aa981
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_41.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4c78321e9cdc21cc29a60a1c37ee6eff9514b3e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_42.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c5125dcf51e799e3c2e7e6eaa71b6c00677a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_43.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2965374f48f0a5a568d6dba8bbf3572475aa298
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_44.obj
@@ -0,0 +1,445 @@
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+f 113 132 133
+f 113 133 134
+f 113 134 126
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+f 116 136 117
+f 117 136 133
+f 117 133 119
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+f 118 137 138
+f 118 138 120
+f 119 130 137
+f 120 138 121
+f 121 139 122
+f 121 138 139
+f 122 140 141
+f 122 141 123
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+f 126 142 128
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+f 133 136 134
+f 135 147 136
+f 136 147 142
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+f 138 144 148
+f 138 148 149
+f 138 149 139
+f 139 149 140
+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a43b44a894c0a6ca865d37354b76d30be44654b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_45.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05062549 0.06376305 -0.02768398
+v 0.05062549 0.04631552 -0.03581404
+v 0.05062549 0.06376310 -0.03987562
+v -0.00177533 0.06376309 -0.03680833
+v -0.00177533 0.04631554 -0.03974085
+v 0.05062549 0.04631557 -0.04830230
+v 0.05062549 0.06270080 -0.04045537
+v 0.05008692 0.06376310 -0.04012505
+v -0.00177533 0.06376314 -0.05064485
+v -0.00177533 0.04631559 -0.05417061
+v 0.05062549 0.04790901 -0.04764839
+v 0.02952359 0.04631561 -0.05909176
+v 0.04995868 0.06363672 -0.04025313
+v 0.05062549 0.05521183 -0.04429457
+v 0.02600490 0.04631561 -0.06065911
+v 0.04986635 0.06376310 -0.04021606
+v -0.00177533 0.05875911 -0.05761873
+v 0.00228707 0.06376314 -0.05054036
+v -0.00177533 0.04736765 -0.05585930
+v 0.00650847 0.04631560 -0.05746710
+v 0.05062549 0.05205229 -0.04577093
+v 0.05062549 0.05389336 -0.04492488
+v 0.02347616 0.04631562 -0.06168379
+v 0.04958938 0.06376310 -0.04032054
+v -0.00177533 0.05851830 -0.05785132
+v 0.00682649 0.06376313 -0.05018981
+v 0.01137104 0.06376313 -0.04962017
+v 0.01570016 0.06376313 -0.04906401
+v 0.00228707 0.05854221 -0.05727155
+v 0.00682649 0.05586258 -0.05933440
+v -0.00177533 0.04904477 -0.05843110
+v 0.00878588 0.04631560 -0.05832662
+v 0.02189121 0.04631562 -0.06211860
+v 0.01574632 0.05248442 -0.05968834
+v 0.02044988 0.05109764 -0.05927038
+v 0.04327009 0.06376311 -0.04260922
+v 0.04768128 0.06376310 -0.04102501
+v -0.00177533 0.05649108 -0.05940519
+v 0.00228707 0.05627418 -0.05944564
+v 0.02044988 0.06376313 -0.04820450
+v 0.02503033 0.06376312 -0.04736183
+v 0.01136591 0.05523921 -0.05884567
+v 0.01136591 0.05229144 -0.06064898
+v 0.02950308 0.06376312 -0.04641468
+v 0.03406301 0.06376312 -0.04533944
+v -0.00177533 0.04933000 -0.05879850
+v 0.01273543 0.04631561 -0.05979622
+v 0.02187582 0.04631562 -0.06211860
+v 0.00682649 0.05229144 -0.06076695
+v 0.03912562 0.06376311 -0.04397096
+v -0.00177533 0.05606923 -0.05950631
+v 0.03646865 0.06376311 -0.04474621
+v 0.03655072 0.06376311 -0.04472262
+v -0.00177533 0.05194474 -0.05996474
+v 0.01748515 0.04631561 -0.06111752
+v -0.00177533 0.05229144 -0.06010630
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 37
+f 1 37 36
+f 1 36 50
+f 1 50 53
+f 1 53 52
+f 1 52 45
+f 1 45 44
+f 1 44 41
+f 1 41 40
+f 1 40 28
+f 1 28 27
+f 1 27 26
+f 1 26 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 10 20
+f 2 20 32
+f 2 32 47
+f 2 47 55
+f 2 55 48
+f 2 48 33
+f 2 33 23
+f 2 23 15
+f 2 15 12
+f 2 12 6
+f 3 7 8
+f 4 9 17
+f 4 17 25
+f 4 25 38
+f 4 38 51
+f 4 51 56
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+f 4 54 46
+f 4 46 31
+f 4 31 19
+f 4 19 10
+f 4 10 5
+f 6 12 11
+f 7 13 8
+f 7 14 12
+f 7 12 13
+f 8 13 12
+f 8 12 15
+f 8 15 16
+f 9 18 17
+f 10 19 20
+f 11 12 21
+f 12 14 22
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+f 15 23 16
+f 16 23 24
+f 17 18 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 25
+f 19 31 20
+f 20 31 32
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 25 30 39
+f 25 39 38
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 30 42 43
+f 30 43 39
+f 30 41 44
+f 30 44 45
+f 30 45 42
+f 31 46 47
+f 31 47 32
+f 33 48 49
+f 33 49 43
+f 33 43 34
+f 34 43 42
+f 34 42 50
+f 34 50 35
+f 35 50 36
+f 38 39 49
+f 38 49 51
+f 39 43 49
+f 42 45 52
+f 42 52 53
+f 42 53 50
+f 46 54 48
+f 46 48 55
+f 46 55 47
+f 48 54 56
+f 48 56 49
+f 49 56 51
+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4ba65c29646a10ed1b9106ca2b15a6ac10f043
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_46.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00177533 -0.03131069 -0.04063128
+v -0.03210605 -0.03131070 -0.03926888
+v -0.00177533 -0.03131065 -0.05235366
+v -0.00177533 0.01937484 -0.03992782
+v -0.00190003 0.01937484 -0.03992093
+v -0.00342013 0.01937484 -0.03983820
+v -0.00795964 0.01937484 -0.03960240
+v -0.01133830 0.01937483 -0.03943968
+v -0.01249915 0.01937483 -0.03938590
+v -0.03210605 -0.03131065 -0.05159937
+v -0.01587781 0.01599613 -0.03929076
+v -0.01587781 0.01937483 -0.03924525
+v -0.02041435 0.01599613 -0.03911426
+v -0.02495387 0.01599613 -0.03894327
+v -0.02949338 0.01599613 -0.03877366
+v -0.03210605 0.01599613 -0.03867713
+v -0.00177533 -0.02984207 -0.05239639
+v -0.00177533 0.01937488 -0.05272164
+v -0.00177533 -0.00668232 -0.05271760
+v -0.00177533 -0.01121703 -0.05270520
+v -0.00177533 -0.01575174 -0.05268316
+v -0.00177533 -0.02029141 -0.05263077
+v -0.00177533 -0.02482611 -0.05253151
+v -0.00177533 -0.02530737 -0.05251910
+v -0.00177533 -0.02936082 -0.05241018
+v -0.03210605 0.01937487 -0.05036228
+v -0.00185846 0.01937488 -0.05271613
+v -0.00177533 0.01098022 -0.05272581
+v -0.00177533 0.00238709 -0.05272446
+v -0.00177533 -0.00214761 -0.05272310
+v -0.01703570 0.01937483 -0.03920112
+v -0.02041435 0.01937483 -0.03907426
+v -0.03210605 0.01937483 -0.03863851
+v -0.03210605 0.01742997 -0.03866059
+f 1 2 10
+f 1 10 3
+f 1 3 17
+f 1 17 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 30
+f 1 30 29
+f 1 29 28
+f 1 28 18
+f 1 18 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
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+f 2 15 16
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+f 10 27 18
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+f 10 29 30
+f 10 30 19
+f 12 31 13
+f 13 31 14
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 34
+f 15 34 16
+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab8d5c682ada46be7ac6409bb8b50ae4faa58d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_47.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.04744571 -0.02899861 -0.05869748
+v -0.04734210 -0.02907303 -0.05869748
+v -0.04533155 -0.03131062 -0.05868917
+v -0.04743369 -0.03131062 -0.05864758
+v -0.04744571 -0.02908295 -0.05869333
+v -0.04744571 -0.02873566 -0.05869333
+v -0.04411831 -0.03131063 -0.05852280
+v -0.04744571 -0.03131063 -0.05594390
+v -0.04744571 0.01937489 -0.05309029
+v -0.03210755 -0.03131065 -0.05159930
+v -0.03210755 0.01937487 -0.05036166
+v -0.04744571 -0.03131070 -0.03745283
+v -0.04744571 0.01937483 -0.03784364
+v -0.03210755 -0.03131070 -0.03926845
+v -0.03210755 0.01937483 -0.03864018
+v -0.03210755 0.01599613 -0.03867763
+v -0.03210755 0.01792611 -0.03865474
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 12
+f 1 12 13
+f 1 13 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 10
+f 3 10 14
+f 3 14 12
+f 3 12 8
+f 3 8 4
+f 3 6 7
+f 4 8 5
+f 6 9 7
+f 7 9 11
+f 7 11 10
+f 9 13 15
+f 9 15 11
+f 10 11 15
+f 10 15 17
+f 10 17 16
+f 10 16 14
+f 12 14 16
+f 12 16 17
+f 12 17 15
+f 12 15 13
+
diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5fa4e793a5540b1eaa3a5900bd7f673652735b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_48.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.05062549 0.07931930 -0.01582797
+v 0.05062549 0.06376305 -0.02768653
+v 0.05062549 0.08461359 -0.01582795
+v 0.04140303 0.08461359 -0.01582795
+v -0.00177533 0.08461362 -0.02502434
+v -0.00177533 0.06376309 -0.03680452
+v 0.05062549 0.06376310 -0.03987225
+v 0.05062549 0.08461363 -0.02624121
+v -0.00177533 0.08461366 -0.03665787
+v -0.00177533 0.06376314 -0.05064341
+v 0.05008692 0.06376310 -0.04012108
+v 0.05062549 0.06430395 -0.03957569
+v 0.05062549 0.08340129 -0.02717857
+v 0.04959963 0.08461363 -0.02672522
+v -0.00177533 0.08380953 -0.03723392
+v 0.00066621 0.08461366 -0.03664764
+v 0.00228707 0.06376314 -0.05054115
+v -0.00177533 0.08057662 -0.03946656
+v 0.00228707 0.08056845 -0.03945293
+v 0.04986635 0.06376310 -0.04021311
+v 0.05062549 0.06948392 -0.03652498
+v 0.05062549 0.08299922 -0.02747513
+v 0.04740943 0.08408910 -0.02804435
+v 0.04785567 0.08461363 -0.02746830
+v 0.00228707 0.08461366 -0.03664083
+v 0.00228707 0.08379728 -0.03722370
+v 0.00682649 0.08044804 -0.03937453
+v 0.01136591 0.08021741 -0.03922797
+v 0.00682649 0.06376313 -0.05019007
+v 0.00682649 0.08369319 -0.03714530
+v 0.04958938 0.06376310 -0.04031878
+v 0.04768128 0.06667964 -0.03938481
+v 0.05062549 0.07024521 -0.03607505
+v 0.05062549 0.08286247 -0.02757397
+v 0.04768128 0.08057047 -0.03048151
+v 0.04472681 0.08141747 -0.03107460
+v 0.04703499 0.08461363 -0.02781257
+v 0.00682649 0.08461366 -0.03649085
+v 0.01136591 0.08349318 -0.03699532
+v 0.01136591 0.07794786 -0.04068685
+v 0.01590533 0.08318294 -0.03677035
+v 0.01590533 0.07987861 -0.03899959
+v 0.01590533 0.07761109 -0.04047893
+v 0.01137104 0.06376313 -0.04962083
+v 0.01869053 0.07735802 -0.04031873
+v 0.01136591 0.08461366 -0.03620112
+v 0.04768128 0.06376310 -0.04102095
+v 0.04768128 0.06441008 -0.04067326
+v 0.04458319 0.06768789 -0.03997449
+v 0.04767102 0.07059831 -0.03704309
+v 0.04917903 0.07221883 -0.03548194
+v 0.05062549 0.07154122 -0.03527744
+v 0.05062549 0.07778046 -0.03119050
+v 0.05035877 0.07750494 -0.03150411
+v 0.04768128 0.07830296 -0.03204606
+v 0.04314186 0.07628240 -0.03516152
+v 0.04044385 0.07703960 -0.03565577
+v 0.04169540 0.08218693 -0.03161657
+v 0.04318289 0.08383806 -0.02987477
+v 0.04317263 0.08461364 -0.02930553
+v 0.01590533 0.08461366 -0.03576141
+v 0.01733127 0.08461366 -0.03558075
+v 0.02044988 0.08461366 -0.03518536
+v 0.02044988 0.08277882 -0.03647722
+v 0.01570016 0.06376313 -0.04906523
+v 0.02030113 0.07912549 -0.03892801
+v 0.02171681 0.07700085 -0.04010058
+v 0.04327009 0.06376311 -0.04260595
+v 0.04615275 0.07314339 -0.03606140
+v 0.04310082 0.06606531 -0.04137543
+v 0.03912562 0.06376311 -0.04396598
+v 0.04155691 0.06853693 -0.04046533
+v 0.04310082 0.07020440 -0.03894509
+v 0.04314186 0.07401692 -0.03658974
+v 0.04767102 0.07478025 -0.03439460
+v 0.05062549 0.07710083 -0.03165408
+v 0.03860244 0.07155757 -0.03955863
+v 0.03879735 0.07530479 -0.03720328
+v 0.03741757 0.07771108 -0.03609547
+v 0.03406301 0.08070927 -0.03505925
+v 0.03879735 0.07933774 -0.03456501
+v 0.03860244 0.08291148 -0.03212786
+v 0.03918717 0.08461364 -0.03071328
+v 0.04053618 0.08461364 -0.03023949
+v 0.02115772 0.08461366 -0.03507287
+v 0.02498417 0.08225634 -0.03611250
+v 0.02044988 0.06376313 -0.04820286
+v 0.02498417 0.07427615 -0.04119475
+v 0.02368646 0.06847979 -0.04489309
+v 0.02498417 0.07950716 -0.03792248
+v 0.02498417 0.07654367 -0.03982448
+v 0.03825364 0.06549998 -0.04321607
+v 0.03655072 0.06376311 -0.04471928
+v 0.03860244 0.06929005 -0.04090504
+v 0.03543254 0.07232089 -0.04001537
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ebb9599b70f7adeaaf3347af77f8d7278803f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b486f85bbfaa93b49852a176cc872f05c153cf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb5bf0384e0be99675184c1b88e9e943d1031fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e46e7915e126f04b18b1a7aa70fed1e0a8daaa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/empty_bowl_collision_9.obj
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index 0000000000000000000000000000000000000000..cc6f87512fe50e5702d3e6b662a890b0757a470d
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/textures/material_0.png b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/video.mp4 b/dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/video.mp4
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