diff --git a/.gitattributes b/.gitattributes
index b1a1a196860765fc9b339bfc0e93d80dd06d0a83..3555a4fa2dc7b68fe1e2e1e2a04b2afeae33ae7b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4218,3 +4218,5 @@ dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/chopsticks_0
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mesh/chopsticks_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mesh/chopsticks_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mjcf/mesh/chopsticks_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.urdf b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86127dcd34dc84ca6fc7b273b5a64f3d6d908e32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl_036">
+   <link name="bowl_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_036.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>1.000000</scale>
+         <uuid>681dff1cbc3858eebdc64d41659cba0b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>bowl</category>
+         <name>amber bowl</name>
+         <color>brown,transparent</color>
+         <shape>hemisphere</shape>
+         <material>glass</material>
+         <description>translucent amber bowl with two small side tabs</description>
+         <min_height>0.0593</min_height>
+         <max_height>0.0593</max_height>
+         <real_height>0.0593</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152931</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064871 -0.064703 -0.030152</min>
+            <max>0.065129 0.064600 0.029145</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd
new file mode 100644
index 0000000000000000000000000000000000000000..64abafb58a76f2c09af960684f77ef02397fe02b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf38917530a7a998833773e78e39cdcc95e67ef63e70924ffa323e7e5b87261f
+size 4946201
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..034a873357d64e5651527daa51bbbad4543c526a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123e71af05b2eac6cb5f8a4715726040a0dc78ac9c838dd3a19a818270c94225
+size 13569408
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.mtl b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d586bc4042000923b81dcb223ab56df8ee49b04
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.mtl
@@ -0,0 +1,6 @@
+newmtl bowl_036_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77baabfb305f3e8f23d8971c5ad0f097bd61252d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.obj
@@ -0,0 +1,103326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bowl_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036_collision.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35699cdc8bd9bede272ee480a1e28e01243d106a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036_collision.obj
@@ -0,0 +1,20784 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d10434f3bf4b65e1415fdc3ac97c9b1b45cf50a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f57f609788918a47eda51afb4c3b85c2f916075bf2a131bda77d9e01d020df
+size 10177195
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd86f1a26d0ce52ce64857b88dac42b72c754176
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_036_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bowl_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d10434f3bf4b65e1415fdc3ac97c9b1b45cf50a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f57f609788918a47eda51afb4c3b85c2f916075bf2a131bda77d9e01d020df
+size 10177195
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/bowl_036.xml b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/bowl_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e4195229f0def81eb0c41731a608977474494ebd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/bowl_036.xml
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+<?xml version='1.0' encoding='utf-8'?>
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ee9bddddc0461629a9ffe96a496760494cb612
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036.obj
@@ -0,0 +1,103326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bowl_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b80ee08a18a6eb13b14dde25bf2f907c2d819f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision.obj
@@ -0,0 +1,20784 @@
+# https://github.com/mikedh/trimesh
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+o bowl_036_collision.obj_45
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_0.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea088a0b4ae929338dffe8a54be0619a4d87e9a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_0.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_1.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e61b61f5c7e9b4f89cf5300d8146b8a6603502
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_1.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_10.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62c01b4d85339d64bdf49afbe607b71eaf7f8194
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_10.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_11.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8ea717ab0acbb2920f7e0d7a599d14ab0ee0cce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_11.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_12.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3061fac7d8ebf6b7f43530d915045cc564652d5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_12.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_13.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb05d0c113234851733e211c9c4ece910ceee39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_14.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba72fc14700b4dfcd44e17f06b5c863f80a51696
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_15.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ae12f4e4e8f7b98fb341ff05815d8c88b22a60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_16.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d4fbbc0b6b724000ff7c4855a0e8a56c768504
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_17.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73060b1ede48e9c624b54e76d4c0a0004642088a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_18.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb61664486143d4f7d77cfd5215e3622640122d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_19.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d272fd7ce389870be689900cea28cea14886416
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_19.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00355325 0.01530356 -0.02027880
+v -0.00355325 -0.00016131 -0.02038322
+v -0.00355325 0.01530359 -0.02760969
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+v -0.02253051 0.01271653 -0.03012606
+v -0.02221283 0.01374137 -0.03016282
+v -0.02231130 0.01530360 -0.03025531
+v -0.02253051 0.01375802 -0.03017231
+f 1 2 5
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+f 1 7 3
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+f 1 4 2
+f 2 4 6
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+f 5 8 7
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+f 9 13 14
+f 11 14 13
+f 11 13 12
+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_2.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3156cb941cbff4bbffd59fc9fca32cf9a14528f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03964916 -0.04332828 0.01913773
+v 0.03964916 -0.03735772 0.00620232
+v 0.04047609 -0.04256348 0.01913773
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_20.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4b3f8dbe12fa856e4df43dba98941471f1d559
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_20.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v -0.00355139 0.03633441 -0.01307345
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+v -0.00355139 0.04541928 0.00100656
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_21.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38020746c1fd218500c958326f71bff25dcc9cb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_22.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa00b0cf2e92d3cda85965f86ff33d9cb89d96d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_22.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_23.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144bf97ef0aa3f13c9b1aea59e805a54edce9b37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_23.obj
@@ -0,0 +1,1000 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_24.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430181a9728907914625f2752c07f763e69f488c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_24.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_25.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5252c9a2b2e37cf3fddfe523de7434c155d5e67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_25.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_26.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b123d7a62d6f81aadfbc032c1d6b94a8cfc78aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_26.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_27.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b00ced82be16edc7b7fec10fa224d6912121eb
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+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_28.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563bb16919fcfe138251334fa4ff048e426a1e00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_28.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_29.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc4f16536e74055d112a24a74f0716b3351f922
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_29.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_3.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237271ba81f35881f21288b6b329423d74c726f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_30.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0362ef05ae5eeeb6b3b73d8f05073ae8bf6e79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_30.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_31.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf32043336fd49e0b08e6b932f0986e21e119531
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_31.obj
@@ -0,0 +1,346 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_32.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2ba6f1cc27876186081833ada0256db64c86a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_32.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_33.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb345cb44343093f6dce063aed6015dc0ce5abcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_33.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.01927361 -0.01970361 -0.01803280
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_34.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa9a00529f3e4879c349d855ea31568f247c7ea9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_34.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v 0.01942310 -0.04320006 0.00620230
+v 0.01942310 -0.03126535 -0.01295261
+v 0.00369819 -0.04725661 0.00620229
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_35.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9dfe942f9f73b0e50219599bb1c9a86dda7bc5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_35.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_36.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a685b1af961de6a16633ec548be34e5b82bf5b5f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_36.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_37.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06fa19242a37b0a09493080e1790325deb1eca5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_37.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_38.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56d003a4d638f3ad0758e1d400197fa82312c8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_38.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_39.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5aeb6b31341890f2dd738d6b37b24a52a7cbe6e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_39.obj
@@ -0,0 +1,163 @@
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+v 0.05687096 -0.00754491 0.02925095
+v 0.05687096 -0.00540368 0.02926683
+v 0.05687096 -0.00326389 0.02927180
+f 1 2 6
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+f 1 12 19
+f 1 19 18
+f 1 18 27
+f 1 27 35
+f 1 35 39
+f 1 39 43
+f 1 43 48
+f 1 48 52
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_4.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec67418db198bea65127469aa64f31168847521f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_4.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01927237 -0.02411110 -0.02850425
+v -0.01927237 -0.02411114 -0.01668204
+v -0.01927237 -0.02298581 -0.02947296
+v -0.01868102 -0.02320618 -0.02971849
+v -0.01824481 -0.02411109 -0.02920344
+v 0.00369819 -0.02411113 -0.01897843
+v 0.00369819 -0.00016366 -0.02038473
+v -0.01927237 -0.00016366 -0.01996442
+v -0.01927237 -0.02219108 -0.02993331
+v -0.01725548 -0.02376882 -0.02998936
+v -0.01695643 -0.02411109 -0.02990263
+v 0.00369819 -0.02411109 -0.02950900
+v 0.00369819 -0.00016363 -0.02760348
+v -0.01927237 -0.00016363 -0.02761816
+v -0.01927237 -0.02189569 -0.03003739
+v -0.01800872 -0.02250756 -0.03012012
+v -0.01625265 -0.02411109 -0.03006141
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+v -0.01927237 -0.02039296 -0.03021751
+v -0.01458652 -0.02411109 -0.03020953
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_40.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9af0bdfd1a778ae23f7f89a9df023cd030c4f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_40.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02875309 0.03751999 0.00610047
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+
diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_41.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c19f763ed0c2fb4de08beb7080cf33fd3dc6087
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_41.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.01542306 0.05454250 0.02924930
+v 0.01404479 0.05626580 0.02914417
+v 0.00976137 0.05668357 0.02922441
+v 0.00762152 0.05668357 0.02926314
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_42.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b45cd9a9a33a83c6ebf6d5972c2707d91be598
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_42.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_43.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf814e1926d94403a2ac90ebc2a51bc6d386721b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_43.obj
@@ -0,0 +1,991 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_44.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b376bac1c7f8e9e06d99d9474eb20ecb299f65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_44.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_45.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf84907313fe1ddf178cc58b83df1f20b4ac7b0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_45.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_5.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7ba01eda9a275aa293f6b3d63a6e9579049c51
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_6.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d40850cae456996ae0127ca109ec61a23c63e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_7.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bdc93f3036dc3e78e686fed0207e5182505fb70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_8.obj b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ee81b8600c411114da75cdf3ed747fdc780028
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_8.obj
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