diff --git a/.gitattributes b/.gitattributes
index 91da3bf1aa49856ea9f0896e6424711750149200..b7e0ea43c21ec614fbf5e63bb1e766a484f052f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4390,3 +4390,5 @@ dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin.
 dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.urdf b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4152475dba0222eab37fed320d5e23f71adc4e54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl_035">
+   <link name="bowl_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>d6cef78edb765f8c9df0978396ba457e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>bowl</category>
+         <name>gray bowl</name>
+         <color>gray</color>
+         <shape>hemisphere</shape>
+         <material>ceramic</material>
+         <description>smooth round gray bowl with slightly flared rim</description>
+         <min_height>0.0594</min_height>
+         <max_height>0.0594</max_height>
+         <real_height>0.0594</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152901</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064993 -0.064936 -0.028457</min>
+            <max>0.065007 0.065025 0.030906</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4db53cb865de8b6dd7291608b543e2e6932a6527
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1413419f86301e8bbe7809c776a9a82f3b5c947483f58884f3ebcf79d20d54
+size 4947856
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..19e7485acad73bc5bb791e77f75c367cabd358e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2db8ed3d6d65a1bae7c83126c7154f2c97c19c2b207ad0c5ecda32c490e3f75
+size 13619052
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.mtl b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02b73d463401a2a2667553ded725f69f9c1caa5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.mtl
@@ -0,0 +1,6 @@
+newmtl bowl_035_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/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b70dc5f8ffd60edf0c11689d8548908e4ef969d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.obj
@@ -0,0 +1,105210 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bowl_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035_collision.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a01573814572fa3a00eef9f54e586daa82e436a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035_collision.obj
@@ -0,0 +1,22463 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..726bc766eaa5399dc5e7dbafbed9cc35121af22f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45911fce962554ecfb9f968363b9881313de7fd4dc27776afc17db87dbc1424f
+size 10226973
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de3cfcc788787142c1e5f9286d3bb0978e48b0f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_035_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bowl_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..726bc766eaa5399dc5e7dbafbed9cc35121af22f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45911fce962554ecfb9f968363b9881313de7fd4dc27776afc17db87dbc1424f
+size 10226973
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/bowl_035.xml b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/bowl_035.xml
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index 0000000000000000000000000000000000000000..ceec535acd0325955b9bc5402f83fa6be3e57b33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/bowl_035.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bowl_035">
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+    <mesh name="visual_mesh_0" file="mesh/bowl_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/bowl_035_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bowl_035">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_53" 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/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02266d88805d25c17f3f9b6c3ddffd0212b3d924
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035.obj
@@ -0,0 +1,105210 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bowl_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883bbeeff7054106a6eedf8c82bd401d8b4a26fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_0.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bafb1cf9c9cd0c0747ec961f3e9994b59fb1181
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_1.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d64aac8f4b5b42c6204a7019304e1a5988765ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_1.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_10.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243faf217a2086f8291858abc105e37f870f98e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_10.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_11.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98c281fb4397e910b0638f8aa8f1efe2f943532
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_12.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24560b1812a07743e98b0a298252466d6456d130
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_13.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2807dd180317d88dfb576cc2130e9d952fb3a611
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_14.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de53119e8b8e71accfcc0d79c17c32a74856ee26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_15.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b818888b988730c9bceb48f5f6a151e8538dd2c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_16.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11c8494d0d2de773787fd5de8659e77b1c323dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_16.obj
@@ -0,0 +1,754 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_17.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11d900a1ca7d945ea5c08b6b2bd01f7e3e93fab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_18.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b7e943341470fc92c90251aade7d9be1a3d381a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_19.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df79fa1acff62ef25c283199ae8b394decb228a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_19.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_2.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b9cc1c7be7e1e923939d020a8f270ddf82672f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_2.obj
@@ -0,0 +1,763 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_20.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1d4f0706b4d05b76d6f25763ba2b2636190a09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_21.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d009c6841ff38650279c2176b5004deeeedfa453
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_21.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02150120 0.00005638 -0.01456364
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+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_22.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef3bce0a875b9615fc70b80609d4ac4c5c7ea2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_22.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_23.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698ea2a251ca1ed1df13ad4b259003aad7707b59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_23.obj
@@ -0,0 +1,874 @@
+# https://github.com/mikedh/trimesh
+v 0.01631078 0.03109134 -0.02021437
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_24.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e95309a869cc8ed33b50c9171b6c19c655f37e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_25.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937f44e598abcad1ebe978b67542287b2b46dee8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_26.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a673995a4eea95a44ee6ac237ea525f7dd99d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_26.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00001722 0.00005641 -0.02146279
+v 0.01851445 0.00005641 -0.02155064
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+v 0.01851445 0.02057576 -0.01378906
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+f 4 12 11
+f 4 11 10
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 12 9
+f 7 9 8
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_27.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030094497ace3d0d17e6bbe919915ea98e13e8f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_27.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_28.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d2218ddadc23ddbd4e37f6cbb2924ca23c2681
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_28.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_29.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0a24ca4c9a19ae0320cfe41d1b2deaa70d1c85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_3.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ff572aad9d18badf772c6137be931da6b5d0a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_3.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_30.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae13d7f9713449c63f556c2c66713f31de3956c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_30.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_31.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ce9e54d8e2b5bd711ac3fdd98c9a0e4ebc3c06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_31.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_32.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24205487ed2f6f4dbe265f9ba551492993388f63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_33.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef2c67d2955a4e39de68c080dbcd8bb2a5d1206
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_33.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_34.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2777cb139baee969668bae10c4481e330314d9f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_34.obj
@@ -0,0 +1,931 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_35.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be5c1f8393bb5807fe8c2ca39c6f962139edfc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_36.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30734b40f61541935347f254bb75045fface9c15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_36.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_37.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d9c00bfb43ecd654e98e7497fae20d7e786632
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_37.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_38.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5486df85b2529f9d7ced02643c99e703a557c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_38.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_39.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..453786dd22f58b17d770d0b32a1c5ddc3246bed0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_39.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_4.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bac6b52af340227b78c22cf1b076a098ae38bee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_4.obj
@@ -0,0 +1,859 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_40.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f69513b9b6967754e682987384aeed64540d39c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_40.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_41.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f50dfb1eebc0ae82258b73439216fe1157185f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_41.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01851445 0.03108911 -0.00990076
+v 0.00001722 0.03108912 -0.01228667
+v 0.00001722 0.02057576 -0.01471301
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+v 0.00001722 0.03108917 -0.02628983
+v 0.00001722 0.02057579 -0.02170357
+v 0.01851445 0.02057576 -0.01378914
+v 0.01851445 0.02202989 -0.01317016
+v 0.01851445 0.02433514 -0.02759209
+v 0.01745705 0.02595701 -0.02654882
+v 0.01663141 0.02535704 -0.02795209
+v 0.01597597 0.02632646 -0.02723025
+v 0.01406577 0.02732058 -0.02730555
+v 0.01240906 0.02761490 -0.02807514
+v 0.01173008 0.02843613 -0.02730555
+v 0.00885845 0.03010637 -0.02635963
+v 0.00750049 0.03027617 -0.02668656
+v 0.00536034 0.03108916 -0.02524290
+v 0.00014940 0.03108917 -0.02628983
+v 0.00001722 0.03073619 -0.02720268
+v 0.00001722 0.02583352 -0.02820188
+v 0.01627110 0.02057581 -0.02838740
+v 0.01851445 0.02057581 -0.02852883
+v 0.01851445 0.02364667 -0.02826066
+v 0.01520465 0.02584793 -0.02831392
+v 0.01098230 0.02796789 -0.02830840
+v 0.00750049 0.02948273 -0.02773901
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+v 0.00536034 0.02866151 -0.02849390
+v 0.00312967 0.02909373 -0.02846084
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+f 53 61 54
+f 54 57 55
+f 57 59 58
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_42.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffdaf554635261c2f79516ff5dc100ccd844d0da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_42.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00001722 -0.03278544 -0.02224548
+v 0.00001722 -0.03063385 -0.02720169
+v 0.00031175 -0.03278544 -0.02224548
+v 0.00001722 -0.03278548 -0.01176903
+v 0.00001722 -0.03030036 -0.02773485
+v 0.00107734 -0.03063239 -0.02720169
+v 0.00107734 -0.03278544 -0.02224205
+v 0.00936161 -0.03278548 -0.01115014
+v 0.00001722 -0.01784294 -0.01474511
+v 0.00001722 -0.02995810 -0.02827488
+v 0.00107734 -0.02995664 -0.02827316
+v 0.00231216 -0.02993909 -0.02826116
+v 0.00310244 -0.03041445 -0.02738341
+v 0.00408390 -0.03278544 -0.02194718
+v 0.00321861 -0.03278544 -0.02205176
+v 0.00171579 -0.03278544 -0.02220262
+v 0.00936161 -0.01784294 -0.01474339
+v 0.00936161 -0.03278544 -0.02090999
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+v 0.00001722 -0.02941253 -0.02840002
+v 0.00107734 -0.02885672 -0.02852689
+v 0.00310244 -0.02901322 -0.02846003
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+v 0.00749931 -0.02832577 -0.02846688
+v 0.00373906 -0.02983231 -0.02820459
+v 0.00535805 -0.03037350 -0.02700625
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+v 0.00936161 -0.02942716 -0.02688453
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+v 0.00924636 -0.02387636 -0.02784284
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+f 38 41 40
+f 38 40 39
+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_43.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e617c4786253fd107d42ae1ac30ff1ab6f4411f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_43.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.03271760 -0.01620994 -0.00958606
+v -0.03271760 -0.01620991 -0.01926969
+v -0.02373131 -0.01620993 -0.01313200
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+v -0.03271760 0.00326190 -0.01169040
+v -0.02581110 -0.01517671 -0.02832218
+v -0.02544917 -0.01620988 -0.02805142
+v -0.03271760 -0.01602500 -0.01932571
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+v -0.03021917 -0.00744898 -0.02666402
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+v -0.02790532 -0.01091064 -0.02830348
+v -0.02755886 -0.01233838 -0.02807009
+v -0.02284041 -0.01620993 -0.01353719
+v -0.02218358 0.00326383 -0.01547907
+v -0.03269389 0.00326381 -0.01170160
+v -0.02218358 -0.01620993 -0.01383969
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+v -0.02448712 -0.01620988 -0.02845662
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+v -0.03045118 -0.00305137 -0.02737916
+v -0.02986343 -0.00368614 -0.02819889
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+v -0.03271760 -0.01387100 -0.01987467
+v -0.03271760 -0.01173033 -0.02040496
+v -0.03271760 -0.00959538 -0.02092406
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+v -0.02807442 -0.00958964 -0.02838004
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+v -0.02218358 0.00326194 -0.02262135
+v -0.02222689 0.00326385 -0.02264376
+v -0.02218358 -0.01620987 -0.02862654
+v -0.03271760 0.00326385 -0.02220122
+v -0.02461292 -0.01387096 -0.02864707
+v -0.02436751 -0.01620988 -0.02847716
+v -0.03271760 -0.00316767 -0.02221431
+v -0.03066153 -0.00102699 -0.02720176
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+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_44.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354aa4744b76891abba9c71961c36eaf20917915
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_44.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00001722 -0.03099790 -0.01230371
+v 0.00001218 -0.03189095 -0.01203596
+v 0.00001722 -0.03189094 -0.01384380
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+v -0.01715662 -0.03189095 -0.00979232
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+v -0.00320539 -0.03189090 -0.02332432
+v -0.00106371 -0.03063542 -0.02720221
+v 0.00001722 -0.03030004 -0.02773403
+v 0.00001722 -0.02680135 -0.02850591
+v -0.00748709 -0.02671725 -0.02865733
+v -0.01390711 -0.02457647 -0.02864624
+v -0.01715662 -0.02352881 -0.02849297
+v -0.00465112 -0.03189091 -0.02301409
+v -0.01715662 -0.02405168 -0.02840433
+v -0.01597147 -0.02456585 -0.02847081
+v -0.01390711 -0.02607455 -0.02841357
+v -0.01170490 -0.02677332 -0.02847451
+v -0.00962541 -0.02805682 -0.02838588
+v -0.00748709 -0.02832550 -0.02846343
+v -0.00234973 -0.02994534 -0.02826586
+v -0.00106371 -0.02996081 -0.02827694
+v 0.00001722 -0.02995887 -0.02827509
+v 0.00001722 -0.02885707 -0.02852808
+v -0.00106371 -0.02885707 -0.02852808
+v -0.00962541 -0.02671725 -0.02862778
+v -0.00534540 -0.02857776 -0.02849113
+v -0.00311966 -0.02901075 -0.02845975
+v 0.00001722 -0.02941281 -0.02840066
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 28
+f 1 28 45
+f 1 45 59
+f 1 59 65
+f 1 65 60
+f 1 60 46
+f 1 46 32
+f 1 32 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 5 11
+f 2 11 17
+f 2 17 34
+f 2 34 50
+f 2 50 43
+f 2 43 26
+f 2 26 12
+f 2 12 6
+f 2 6 3
+f 2 4 5
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 4 10 16
+f 4 16 33
+f 4 33 29
+f 4 29 14
+f 4 14 7
+f 5 9 8
+f 5 8 7
+f 5 7 14
+f 5 14 31
+f 5 31 49
+f 5 49 51
+f 5 51 35
+f 5 35 18
+f 5 18 11
+f 6 12 13
+f 10 15 16
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 17
+f 12 26 27
+f 12 27 13
+f 13 27 44
+f 13 44 28
+f 14 29 30
+f 14 30 31
+f 15 32 33
+f 15 33 16
+f 17 25 34
+f 18 35 19
+f 19 35 36
+f 19 36 20
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 34
+f 26 43 27
+f 27 43 42
+f 27 42 44
+f 28 44 45
+f 29 33 46
+f 29 46 30
+f 30 47 48
+f 30 48 31
+f 30 46 47
+f 31 48 49
+f 32 46 33
+f 34 42 50
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 40
+f 37 40 39
+f 37 39 38
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 44
+f 41 44 42
+f 42 43 50
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 46 60 47
+f 47 61 62
+f 47 62 48
+f 47 60 61
+f 48 62 54
+f 48 54 53
+f 48 53 52
+f 48 52 49
+f 49 52 51
+f 54 62 55
+f 55 62 56
+f 56 62 63
+f 56 63 57
+f 57 63 64
+f 57 64 61
+f 57 61 58
+f 58 65 59
+f 58 61 60
+f 58 60 65
+f 61 64 63
+f 61 63 62
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_45.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9865aa900211495e4925f6a4d00e71ec5ceeaef5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_45.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00001588 0.02349406 -0.02206969
+v 0.00001588 0.02183599 -0.02206970
+v 0.00001588 0.02349407 -0.02335862
+v -0.01371697 0.02349406 -0.02206969
+v -0.01371697 0.01667831 -0.02206972
+v -0.01371697 0.02139698 -0.02745118
+v -0.01338756 0.02186337 -0.02779144
+v -0.01114088 0.02349408 -0.02829992
+v -0.01371697 0.02349408 -0.02853013
+v -0.01371697 0.02222167 -0.02814498
+v -0.01371697 0.02266471 -0.02845930
+v -0.01176742 0.02336330 -0.02836000
+v -0.01176742 0.02349408 -0.02838403
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 11
+f 4 11 10
+f 4 10 6
+f 4 6 5
+f 6 10 7
+f 7 10 8
+f 8 10 11
+f 8 11 12
+f 8 12 13
+f 9 13 11
+f 11 13 12
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_46.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc18d24ca998027d5356686ef8f8a4263448bb2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_46.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01371895 0.02349472 -0.02207033
+v -0.01371895 0.02349474 -0.02853034
+v -0.02023802 0.02349472 -0.02207033
+v -0.01371895 0.01667769 -0.02207036
+v -0.01371895 0.02347907 -0.02852905
+v -0.01604919 0.02252268 -0.02864491
+v -0.01397297 0.02349474 -0.02855094
+v -0.02023802 0.02349474 -0.02659176
+v -0.02023802 0.00747750 -0.02207039
+v -0.01371895 0.02139695 -0.02745100
+v -0.01371895 0.02266378 -0.02845891
+v -0.02023802 0.02050328 -0.02852391
+v -0.01828625 0.02263242 -0.02851619
+v -0.01601536 0.02349474 -0.02856509
+v -0.01402531 0.02255403 -0.02847435
+v -0.02023802 0.01776580 -0.02851749
+v -0.02013909 0.01804958 -0.02853486
+v -0.02023802 0.01806055 -0.02853358
+v -0.02023802 0.01875825 -0.02853100
+v -0.02021440 0.02349474 -0.02665419
+v -0.02023802 0.02320156 -0.02720320
+v -0.02023802 0.01515218 -0.02729140
+v -0.01929788 0.01720921 -0.02823688
+v -0.01481610 0.02134992 -0.02831216
+v -0.01371895 0.02222165 -0.02814547
+v -0.02023802 0.02113512 -0.02847178
+v -0.01987932 0.02199117 -0.02839841
+v -0.01785607 0.02349474 -0.02842414
+v -0.02023802 0.01603018 -0.02787710
+v -0.02006633 0.02349474 -0.02704165
+v -0.02023802 0.02284095 -0.02762156
+v -0.02023802 0.02237530 -0.02789960
+v -0.01906364 0.02341792 -0.02816090
+v -0.01901513 0.02349474 -0.02811263
+v -0.01915491 0.02349474 -0.02797940
+f 1 2 7
+f 1 7 14
+f 1 14 28
+f 1 28 34
+f 1 34 35
+f 1 35 30
+f 1 30 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 25
+f 1 25 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 21
+f 3 21 31
+f 3 31 32
+f 3 32 26
+f 3 26 12
+f 3 12 19
+f 3 19 18
+f 3 18 16
+f 3 16 29
+f 3 29 22
+f 3 22 9
+f 4 9 10
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 12
+f 8 20 21
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 11 25 24
+f 11 24 23
+f 11 23 16
+f 11 16 15
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 16 23 29
+f 16 18 17
+f 20 30 21
+f 21 30 31
+f 22 29 23
+f 26 32 27
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 30 35 31
+f 31 35 33
+f 31 33 32
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_47.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66da7473b0f43c81916ba687fad05539657bd008
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_47.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02257809 -0.01784289 -0.02853619
+v 0.02150120 -0.01784289 -0.02850754
+v 0.02248591 -0.01601195 -0.02863359
+v 0.02462667 -0.01387090 -0.02864122
+v 0.02461691 -0.01593662 -0.02846933
+v 0.02341531 -0.01784289 -0.02842732
+v 0.02150120 -0.01601196 -0.02849989
+v 0.02150120 -0.01784294 -0.01370913
+v 0.02676743 -0.00530845 -0.02861254
+v 0.02676743 -0.00744950 -0.02865075
+v 0.02656355 0.00005643 -0.02846163
+v 0.02676743 -0.00958880 -0.02861447
+v 0.02681732 -0.01165277 -0.02846931
+v 0.02612000 -0.01387091 -0.02841393
+v 0.02582068 -0.01517271 -0.02832036
+v 0.02389682 -0.01760110 -0.02837766
+v 0.02418962 -0.01784289 -0.02798230
+v 0.02150120 -0.01468388 -0.02832608
+v 0.02571332 0.00005643 -0.02824581
+v 0.02584020 0.00005643 -0.02827828
+v 0.02262906 -0.01784294 -0.01310749
+v 0.02150120 0.00005638 -0.01456281
+v 0.02890711 0.00005643 -0.02852466
+v 0.02890711 -0.00102811 -0.02852466
+v 0.02861538 -0.00530846 -0.02849030
+v 0.02835186 -0.00744951 -0.02845593
+v 0.02808291 -0.00958881 -0.02837572
+v 0.02791156 -0.01088886 -0.02829933
+v 0.02532399 -0.01660066 -0.02795937
+v 0.02756344 -0.01231506 -0.02806632
+v 0.03257915 -0.01784292 -0.01890233
+v 0.02480995 -0.01784289 -0.02750099
+v 0.02150120 0.00005641 -0.02192000
+v 0.02278089 -0.01784294 -0.01303873
+v 0.03257915 -0.01784296 -0.00914049
+v 0.03257915 0.00005637 -0.01178000
+v 0.03000460 0.00005643 -0.02827255
+v 0.03000569 -0.00102811 -0.02827255
+v 0.02998942 -0.00225282 -0.02826301
+v 0.02905677 -0.00304652 -0.02845782
+v 0.02987013 -0.00367902 -0.02819616
+v 0.02968576 -0.00530846 -0.02806056
+v 0.02942224 -0.00744951 -0.02772251
+v 0.03023560 -0.00744951 -0.02667012
+v 0.03006099 -0.00879511 -0.02634160
+v 0.03257915 -0.01738037 -0.01903792
+v 0.03044490 -0.00530846 -0.02701008
+v 0.03257915 0.00005641 -0.02257894
+v 0.03034079 0.00005643 -0.02774349
+v 0.03068565 -0.00102811 -0.02720106
+v 0.03046767 -0.00304652 -0.02737869
+v 0.03257915 -0.01588233 -0.01946385
+v 0.03257915 -0.00738821 -0.02166983
+v 0.03257915 -0.00102813 -0.02257894
+v 0.03068457 0.00005643 -0.02720106
+v 0.03257915 -0.00108946 -0.02257512
+v 0.03257915 -0.00316743 -0.02237267
+v 0.03257915 -0.00340046 -0.02234402
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 32
+f 1 32 31
+f 1 31 35
+f 1 35 34
+f 1 34 21
+f 1 21 8
+f 1 8 2
+f 2 7 3
+f 2 8 22
+f 2 22 33
+f 2 33 18
+f 2 18 7
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 9
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 7 18 19
+f 7 19 20
+f 7 20 11
+f 8 21 22
+f 9 23 10
+f 9 11 23
+f 10 23 24
+f 10 24 25
+f 10 25 12
+f 11 20 19
+f 11 19 33
+f 11 33 22
+f 11 22 36
+f 11 36 48
+f 11 48 55
+f 11 55 49
+f 11 49 37
+f 11 37 23
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 15
+f 15 29 16
+f 15 28 30
+f 15 30 31
+f 15 31 29
+f 16 29 32
+f 16 32 17
+f 18 33 19
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 39
+f 25 39 26
+f 26 39 41
+f 26 41 27
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 31
+f 28 31 30
+f 29 31 32
+f 31 46 52
+f 31 52 53
+f 31 53 58
+f 31 58 57
+f 31 57 56
+f 31 56 54
+f 31 54 48
+f 31 48 36
+f 31 36 35
+f 31 45 44
+f 31 44 47
+f 31 47 46
+f 37 49 38
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 41
+f 41 51 47
+f 41 47 42
+f 42 47 44
+f 42 44 43
+f 46 47 52
+f 47 51 53
+f 47 53 52
+f 48 54 50
+f 48 50 55
+f 49 55 50
+f 50 54 56
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 58 53
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_48.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce365088bf254fab9808ce25d1a52851a28d11d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_48.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01851445 0.02057579 -0.02195237
+v 0.01851445 0.01338178 -0.02195240
+v 0.01851445 0.02057581 -0.02852868
+v 0.00660760 0.02057579 -0.02195237
+v 0.01709005 0.01338178 -0.02195240
+v 0.01851445 0.01338178 -0.02285439
+v 0.01851445 0.02025963 -0.02853127
+v 0.01768452 0.02057581 -0.02855258
+v 0.01536376 0.02057581 -0.02786962
+v 0.01716582 0.01934278 -0.02823987
+v 0.01851445 0.01768229 -0.02782248
+v 0.01851445 0.01737456 -0.02749554
+v 0.01851445 0.01968361 -0.02853321
+v 0.01689073 0.02057581 -0.02846988
+v 0.01627179 0.02057581 -0.02838782
+v 0.01851445 0.01867661 -0.02840011
+v 0.01851445 0.01884843 -0.02842660
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 16
+f 1 16 17
+f 1 17 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 16 11
+f 10 15 16
+f 13 17 14
+f 14 17 15
+f 15 17 16
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_49.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e12c154b2dc862ffd0f89764fceeaceceeb44a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_49.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01715662 -0.02201820 -0.02241082
+v -0.01715662 -0.02201823 -0.01368894
+v -0.01715662 -0.01621046 -0.02241080
+v -0.00300703 -0.02201820 -0.02241082
+v -0.01715662 -0.01621049 -0.01429081
+v 0.00001722 -0.02201823 -0.01451707
+v 0.00001722 -0.01621049 -0.01474415
+v -0.01513429 -0.01621046 -0.02241080
+v 0.00001722 -0.02201820 -0.02229813
+v 0.00001722 -0.01621046 -0.02147680
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 10
+f 3 10 8
+f 4 8 9
+f 6 9 10
+f 6 10 7
+f 8 10 9
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_5.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b9484c4987767b563a1a86d35d49714330d79e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_5.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
+v 0.05433167 0.00005633 0.00042340
+v 0.05432954 -0.00102810 0.00042340
+v 0.05420392 -0.00102810 0.00013517
+v 0.05420392 0.00005633 0.00013517
+v 0.04582783 0.00005633 0.00042340
+v 0.05431889 -0.00131827 0.00042340
+v 0.05411662 -0.00316942 0.00013516
+v 0.05357795 -0.00316942 -0.00101774
+v 0.05362053 -0.00102810 -0.00110330
+v 0.05362053 0.00005633 -0.00110330
+v 0.04043681 -0.02158142 0.00042332
+v 0.03258024 0.00005637 -0.01177664
+v 0.05424224 -0.00316942 0.00042339
+v 0.05389519 -0.00517096 0.00000005
+v 0.05353749 -0.00436399 -0.00093894
+v 0.05408043 -0.00519637 0.00042338
+v 0.05303501 -0.00316941 -0.00206931
+v 0.05307760 -0.00102809 -0.00215487
+v 0.05307760 0.00005634 -0.00215487
+v 0.04990942 -0.02158142 0.00042332
+v 0.03258024 -0.02158139 -0.00756818
+v 0.03258024 0.00005641 -0.02258059
+v 0.05346723 -0.00579154 -0.00079257
+v 0.05385474 -0.00714496 0.00042337
+v 0.05382919 -0.00736523 0.00042337
+v 0.05302862 -0.00517095 -0.00177209
+v 0.05187676 -0.00530862 -0.00388199
+v 0.05185120 -0.00301902 -0.00424226
+v 0.05202579 -0.00102809 -0.00407112
+v 0.05202367 0.00005634 -0.00407112
+v 0.05043319 -0.02032331 0.00042333
+v 0.04981148 -0.02158142 0.00021616
+v 0.03258024 -0.02158136 -0.01769435
+v 0.04132254 0.00005639 -0.01610903
+v 0.04132467 -0.00102804 -0.01611129
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+f 212 235 236
+f 212 236 213
+f 213 236 237
+f 213 237 214
+f 214 237 233
+f 215 226 216
+f 216 226 238
+f 216 238 239
+f 216 239 217
+f 217 239 240
+f 217 240 218
+f 218 240 241
+f 218 241 219
+f 219 241 242
+f 222 232 243
+f 222 243 223
+f 223 244 224
+f 223 243 244
+f 224 244 245
+f 224 245 227
+f 225 227 226
+f 226 245 238
+f 226 227 245
+f 228 234 229
+f 229 234 246
+f 229 246 230
+f 230 246 247
+f 230 247 231
+f 231 247 248
+f 231 248 243
+f 231 243 232
+f 233 249 250
+f 233 250 251
+f 233 251 246
+f 233 246 234
+f 233 237 249
+f 235 252 236
+f 236 252 253
+f 236 253 237
+f 237 253 254
+f 237 254 255
+f 237 255 249
+f 238 245 256
+f 238 256 239
+f 239 257 250
+f 239 250 258
+f 239 258 240
+f 239 256 257
+f 240 258 255
+f 240 255 259
+f 240 259 241
+f 241 259 260
+f 241 260 261
+f 241 261 242
+f 243 248 262
+f 243 262 244
+f 244 256 245
+f 244 262 256
+f 246 251 247
+f 247 251 263
+f 247 263 248
+f 248 263 262
+f 249 255 250
+f 250 255 258
+f 250 257 263
+f 250 263 251
+f 253 264 254
+f 254 264 265
+f 254 265 255
+f 255 265 260
+f 255 260 259
+f 256 262 257
+f 257 262 263
+f 260 265 266
+f 264 266 265
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_50.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c3e9d69e84b44cf22c7543ded6d374cb9c131b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02267171 0.00273346 -0.02312769
+v -0.02267171 0.00273346 -0.02212769
+v -0.02267171 0.00373346 -0.02312769
+v -0.02267171 0.00373346 -0.02212769
+v -0.02167171 0.00273346 -0.02312769
+v -0.02167171 0.00273346 -0.02212769
+v -0.02167171 0.00373346 -0.02312769
+v -0.02167171 0.00373346 -0.02212769
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+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/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_51.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e1f338839a28f3095efaeac26f57add6c6f5a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_51.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01639205 -0.02201817 -0.02863301
+v -0.01453880 -0.02201818 -0.02846917
+v -0.01715662 -0.02201817 -0.02858550
+v -0.01715662 -0.02109314 -0.02858733
+v -0.01429226 -0.02201818 -0.02842471
+v -0.01715662 -0.02037166 -0.02849230
+v -0.01604855 -0.02074918 -0.02843202
+v -0.01715662 -0.02201820 -0.02241082
+v -0.01478674 -0.02124211 -0.02832421
+v -0.01309554 -0.02201818 -0.02789117
+v -0.01715662 -0.01922831 -0.02824990
+v -0.01715662 -0.01621046 -0.02241080
+v -0.00300656 -0.02201820 -0.02241082
+v -0.01713446 -0.01923911 -0.02824685
+v -0.01715662 -0.01920329 -0.02822858
+v -0.01715662 -0.01621045 -0.02367156
+v -0.01513439 -0.01621046 -0.02241080
+v -0.01715662 -0.01857902 -0.02749344
+v -0.01715662 -0.01835160 -0.02715480
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 12
+f 3 12 16
+f 3 16 19
+f 3 19 18
+f 3 18 15
+f 3 15 11
+f 3 11 6
+f 3 6 4
+f 5 7 9
+f 5 9 10
+f 6 11 7
+f 7 11 9
+f 8 13 17
+f 8 17 12
+f 9 11 14
+f 9 14 13
+f 9 13 10
+f 11 15 14
+f 12 17 16
+f 13 14 15
+f 13 15 18
+f 13 18 19
+f 13 19 17
+f 16 17 19
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_52.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58083c78c4a0f5270d125ed58203365702c882f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_52.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.02190713 -0.00464959 -0.02262180
+v -0.02218343 -0.00331709 -0.02262194
+v -0.02218161 -0.00464959 -0.02262180
+v -0.02063437 -0.00882387 -0.02262181
+v -0.02218343 -0.00333758 -0.02262643
+v -0.02218358 -0.00744232 -0.02346712
+v -0.02218358 -0.00522582 -0.02293659
+v -0.02218358 -0.00521827 -0.02262180
+v -0.02218085 -0.00882386 -0.02414809
+v -0.02218358 -0.00882387 -0.02262181
+v -0.02218358 -0.00882387 -0.02280139
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 9
+f 2 9 5
+f 4 10 11
+f 4 11 9
+f 5 9 6
+f 6 9 11
+f 6 11 10
+f 6 10 8
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_53.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4900850287b3235039bf2c617fe97cffb80f37a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_53.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.02218294 -0.01620987 -0.02862723
+v -0.02072925 -0.01620988 -0.02843498
+v -0.02218294 -0.01620990 -0.02262185
+v -0.02218294 -0.01436915 -0.02846260
+v -0.02079822 -0.01601250 -0.02842264
+v -0.02051973 -0.01620988 -0.02839148
+v -0.01561523 -0.01620990 -0.02262185
+v -0.02218294 -0.00882387 -0.02262182
+v -0.02218294 -0.01419925 -0.02842909
+v -0.01958886 -0.01620988 -0.02763662
+v -0.02129912 -0.01477981 -0.02831093
+v -0.01941932 -0.01620988 -0.02743203
+v -0.01559782 -0.01620845 -0.02262185
+v -0.02063384 -0.00882387 -0.02262182
+v -0.02218294 -0.00882387 -0.02280171
+v -0.02218294 -0.01294921 -0.02794584
+v -0.02218294 -0.01198041 -0.02721684
+v -0.02218294 -0.01188714 -0.02714453
+v -0.01559782 -0.01612675 -0.02262185
+v -0.01559782 -0.01620556 -0.02266006
+v -0.02218294 -0.01184883 -0.02710925
+v -0.02218100 -0.00882386 -0.02414859
+v -0.02218294 -0.00886724 -0.02417446
+f 1 2 6
+f 1 6 10
+f 1 10 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 23
+f 1 23 21
+f 1 21 18
+f 1 18 17
+f 1 17 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 13
+f 3 13 19
+f 3 19 14
+f 3 14 8
+f 4 9 6
+f 4 6 5
+f 6 9 11
+f 6 11 10
+f 7 12 13
+f 8 14 22
+f 8 22 15
+f 9 16 11
+f 10 11 16
+f 10 16 17
+f 10 17 18
+f 10 18 12
+f 12 19 20
+f 12 20 13
+f 12 18 14
+f 12 14 19
+f 13 20 19
+f 14 18 21
+f 14 21 22
+f 15 22 23
+f 21 23 22
+
diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_6.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e786dba7971479a4d26d95c9d487a83d8e78c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_6.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
+v 0.03258024 -0.05662000 0.02747623
+v 0.03258024 -0.05638678 0.02845626
+v 0.03258024 -0.05616040 0.02578516
+v 0.03430177 -0.05564252 0.02637860
+v 0.03319202 -0.05628046 0.02747623
+v 0.03427332 -0.05562537 0.02854008
+v 0.03319202 -0.05593406 0.02892532
+v 0.03258024 -0.05608840 0.02908618
+v 0.03319202 -0.05596148 0.02595548
+v 0.03258024 -0.05048068 0.01718117
+v 0.03682574 -0.05376644 0.02599875
+v 0.03808346 -0.05314908 0.02747624
+v 0.03701355 -0.05389334 0.02747624
+v 0.03537169 -0.05496342 0.02747624
+v 0.03430177 -0.05564252 0.02747624
+v 0.03679160 -0.05374244 0.02889830
+v 0.03512413 -0.05449356 0.02915919
+v 0.03330869 -0.05451757 0.03008921
+v 0.03258024 -0.05478509 0.03022844
+v 0.03330300 -0.05001423 0.01718118
+v 0.03258024 -0.04193371 0.01718121
+v 0.03952614 -0.05207899 0.02747625
+v 0.03352780 -0.04986332 0.01718118
+v 0.03381804 -0.04966783 0.01718118
+v 0.03438714 -0.04928369 0.01718118
+v 0.03534038 -0.04859774 0.01718118
+v 0.03691680 -0.04742476 0.01718119
+v 0.03921313 -0.05184233 0.02581222
+v 0.04291799 -0.04927687 0.02629346
+v 0.03918183 -0.05181834 0.02906728
+v 0.03740054 -0.05234995 0.02968369
+v 0.03533185 -0.05294673 0.03035957
+v 0.04288384 -0.04924601 0.02860363
+v 0.03409974 -0.05336859 0.03060017
+v 0.03258024 -0.05388649 0.03070426
+v 0.03258024 -0.04263682 0.01896283
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+v 0.04059605 -0.05126614 0.02747625
+v 0.03788143 -0.04666678 0.01718119
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+v 0.04862893 -0.03527310 0.01718123
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+v 0.05003462 -0.03324611 0.01718124
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_7.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107e4e5a30aad7b897648e4e685a2c7fafd50393
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_8.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..954c2475f5778f9cd11ea50411bc21234d489b22
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_8.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_9.obj b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b94055aada7f7eebef402af301b30c2f339140
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mjcf/mesh/bowl_035_collision_9.obj
@@ -0,0 +1,589 @@
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