diff --git a/.gitattributes b/.gitattributes
index 0d802c394ce7b9a5ea87a1158cd747ee81deda6d..66d541f1173a6f7bdd66f1536bca8ef2cd8a7c24 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4119,3 +4119,5 @@ dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_07
dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/fork_037.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/mesh/fork_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.urdf b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.usd b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.glb b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.glb
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.mtl b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.mtl
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623fedf10a540149d6590d4b7713ec86044137fa
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+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031_collision.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03dcefdbd3e874998307fa4cc381fc21b35c76ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031_collision.obj
@@ -0,0 +1,23231 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..342947a0a3b528441790e9c32fb7f30b91ae1c45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/bowl_031_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9636815
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/material.mtl b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6cc030a163466d489449c8d855e36240d5463c92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_031_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd bowl_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/bowl_031.xml b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/bowl_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..40527d56bbdf40e7a02deb84e27703ed7c666d44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/bowl_031.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0d42534c17f8720ab65d19153bfd4ff40943e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031.obj
@@ -0,0 +1,108054 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc9a8dbed2b9c465997b992fd6c769dadfa5935
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision.obj
@@ -0,0 +1,23231 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_0.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009afea955f8028728b6c836c502d9393b5aba7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_0.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_1.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3381912d25c170dd5167e5458fa2d47689f6572d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_1.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_10.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6de32477007f9ae37d58daa2640bf426dcc4bd6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_10.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_11.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..933cd934282b3937202de646b43b532910c91481
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_11.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_12.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a314281acceb1182fa9f4b6e21a1a0cc1e8720c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_12.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_13.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142b3f91b0b1bb012e22fde606a522481199710e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_14.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f41368166178f7cdc3dd846f13a7f7bd53940fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_14.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_15.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46eb983d43c9086b2a0bf64be7f2452536fd9a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_15.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_16.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758607e4a9babba07d0a9638e255100462c0004b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_16.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_17.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7444337542fb41e6176d3fbe4ee3bf3e7357b41
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_17.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_18.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36e6390e9c38f150f676d6dce7048b00cd7eb974
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_18.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_19.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a6f4d6012f10d87cf9b642bc2e10d452ee64a5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_19.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_2.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f129c765ed48c53ea2dfeca70a7d22fc80898694
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_20.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd446eed1270014813cbed48e917c104d440cff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_20.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_21.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ad36a988c8ab827915662e2ebbe82e741f6cc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_21.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_22.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af404e9aba3b5d9da7e1fc9d64d39d5d98752db0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_22.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_23.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059ea599191adb5dab03c6a23e06dde2a3e82cb4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_23.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_24.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f269f5e8a9684d20a82ac5f9c5b74fddb8ad1ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_24.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04023430 0.02783873 0.01048851
+v -0.04603628 0.01423075 0.01048846
+v -0.04659390 0.02783873 0.01048851
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+
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_25.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b3975c86f6f1b7ff349ed2b909ec7d3b81d986
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_25.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.04741256 -0.00795985 0.01927388
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+
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_26.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da8bca68c8e72bc9303cf12f0d4c2f6954fc8e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_26.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_27.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f5066ebf6ca0f0cfc0d0a2f267e45088b141a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_27.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_28.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864ac767a51101050e5300a4f84f4a9a7a97a04e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_28.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_29.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c38b8ed789f3806cacacc15bad5b153ac4cee85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_29.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_3.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad75af8b30828075583ce610a3c32c2cfc58276
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_3.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_30.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658488a68792d9d2543cf0edfd69886d7101a658
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_30.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_31.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5038c2187172d88c7410a21ffe5b82aa6e936f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_31.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_32.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f559c6b7bfacfc03f2a7ad5d5cca7ff7e4d1db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_32.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_33.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39dc233b1f0738b78c540df0ac851d75e6f82c1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_33.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_34.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda01b461c7a6937f8186667ca79053540673c4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_34.obj
@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_35.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b39ae21db6164ae3ea4f99d2d20e19ebd3e5da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_36.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c370b029c54173dfd643f005d941444bd83963cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_36.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_37.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e0d93573e45142a881c6518029248561c8dac4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_37.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_38.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093b4db6ddbd75b5d81997fcbaf038e31aba793f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_38.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_39.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248e094b57870865415b67bf170cf05f30631e20
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_39.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_4.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d108c97c58eacd93e05abfcfc7acb2f5277bf1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_4.obj
@@ -0,0 +1,898 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_40.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f72b822f5396e61e0b8c17923fe643f6017e9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_40.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_41.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09472018f3d024d4be1e54b2663b2a903ba171cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_41.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_42.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ade2f36ee5e32e8230382b614af16efd0eca98
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_42.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_43.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035d8e23d9aa2de263f989923d0fe0637f3043c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_43.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_44.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df50eb2ac6ee8283387ea1afdc42d95417b757ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_44.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_45.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ab6c8b4d355e10bee10de3de40b5120d129381
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_45.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_46.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7bbfec607e9b69188d461289e63b817822bf181
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_46.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_47.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df8f7817fb7424c7c6033f254265fd24544d29d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_47.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_48.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f835d12492bb5eb2c12e9225dd3cca9a0b84688
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_48.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_49.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3914871c6939a1cfb48bc42fd0b8fc1a0f03830
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_49.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_5.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a893f18ef4fdf3485fcfab4e5e58f4779e35c99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_5.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.02084400 0.05275782 0.03037403
+v 0.02084400 0.05498341 0.03021966
+v 0.01991190 0.05490219 0.03034473
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+v 0.01561914 0.05490219 0.03043267
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+v 0.00075474 0.05490219 0.03010437
+v 0.02084400 0.05093105 0.02990113
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+v 0.01132441 0.05704777 0.03036624
+v 0.01776453 0.05681381 0.02997541
+v 0.00918098 0.05704777 0.03041314
+v 0.00703362 0.05704777 0.03043659
+v 0.00488822 0.05704777 0.03044636
+v 0.00274086 0.05704777 0.03045026
+v 0.00075474 0.05719323 0.03041704
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+v 0.00075474 0.05376151 0.02964514
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+v 0.01347178 0.05841148 0.02980735
+v 0.01132441 0.05858119 0.02989530
+v 0.00918098 0.05872786 0.02994415
+v 0.00703362 0.05885393 0.02997346
+v 0.00488822 0.05894727 0.02998714
+v 0.00274086 0.05898848 0.02999300
+v 0.00075474 0.05897515 0.02999300
+v 0.00075474 0.05307299 0.02862116
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+v 0.00274086 0.06006127 0.02928169
+v 0.00075474 0.05905637 0.02993829
+v 0.00075474 0.05301845 0.02853908
+v 0.00075474 0.05231417 0.02660057
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+v 0.02084400 0.05389614 0.01048861
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+v 0.00703362 0.06039585 0.02792551
+v 0.00488822 0.06046858 0.02814829
+v 0.00274086 0.06049888 0.02823231
+v 0.00075474 0.06049040 0.02820691
+v 0.00075474 0.06004794 0.02925629
+v 0.00075474 0.05177602 0.01048860
+v 0.02084400 0.04811520 0.01048859
+v 0.01776453 0.05832058 0.02694061
+v 0.01347178 0.05916305 0.02644231
+v 0.00853992 0.06032069 0.02733145
+v 0.01992566 0.05419312 0.01048861
+v 0.01917251 0.05443072 0.01048861
+v 0.01776453 0.05487438 0.01048861
+v 0.01557391 0.05547805 0.01048861
+v 0.01484829 0.05566230 0.01048861
+v 0.01395945 0.05587080 0.01048862
+v 0.00703362 0.06039585 0.02711649
+v 0.00488822 0.06046858 0.02690349
+v 0.00274086 0.06049888 0.02681555
+v 0.00075474 0.06049040 0.02683900
+v 0.00075474 0.05714602 0.01048862
+v 0.01328103 0.05601747 0.01048862
+v 0.01295460 0.05608414 0.01048862
+v 0.01254951 0.05616172 0.01048862
+v 0.01138341 0.05636779 0.01048862
+v 0.00918098 0.05670721 0.01048862
+v 0.00833148 0.05680419 0.01048862
+v 0.00703362 0.05694965 0.01048862
+v 0.00488822 0.05710359 0.01048862
+v 0.00274086 0.05716663 0.01048862
+v 0.00189135 0.05715815 0.01048862
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+f 73 84 74
+f 74 84 85
+f 74 85 75
+
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_50.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb496c260ab9737e1ddf8bb5cd4e64a839781f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_50.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05752046 0.00189686 -0.01982052
+v 0.05752348 0.00126794 -0.02084123
+v 0.05752046 0.00189687 -0.02084122
+v 0.05749931 0.00189686 -0.01897499
+v 0.05752046 0.00134847 -0.01982372
+v 0.05748723 0.00014374 -0.02059840
+v 0.05748723 0.00014374 -0.02077754
+v 0.05654175 -0.00069427 -0.02142005
+v 0.05640280 0.00126794 -0.02164855
+v 0.05640280 0.00189687 -0.02164854
+v 0.05719422 0.00189687 -0.02107768
+v 0.05748421 0.00189686 -0.01871782
+v 0.05744494 0.00068869 -0.01919952
+v 0.05727880 -0.00069428 -0.01982372
+v 0.05666560 -0.00302323 -0.01971147
+v 0.05568387 -0.00478835 -0.02118520
+v 0.05603427 -0.00302322 -0.02148375
+v 0.05425810 -0.00302322 -0.02208009
+v 0.05425810 0.00189687 -0.02190809
+v 0.05730599 0.00189686 -0.01838980
+v 0.05647832 -0.00087766 -0.01761433
+v 0.05589834 -0.00302324 -0.01749412
+v 0.05562950 -0.00469239 -0.01811276
+v 0.05581980 -0.00506256 -0.01971148
+v 0.05527003 -0.00613535 -0.01971148
+v 0.05336095 -0.00857568 -0.02098139
+v 0.05384426 -0.00731266 -0.02133330
+v 0.05446351 -0.00536930 -0.02161911
+v 0.05211038 -0.00731266 -0.02198616
+v 0.04567025 -0.01561050 -0.02192090
+v 0.04567025 -0.01374769 -0.02199175
+v 0.02666702 0.00189687 -0.02084998
+v 0.05713079 0.00189686 -0.01816448
+v 0.05684986 0.00134847 -0.01780382
+v 0.05555700 -0.00087766 -0.01642166
+v 0.05543617 -0.00230862 -0.01649094
+v 0.05511296 -0.00373786 -0.01671467
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+v 0.05374760 -0.00724585 -0.01768682
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+v 0.02666702 -0.01561050 -0.02084925
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+f 53 62 54
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+
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_51.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738b2f65eb5318cc47be6d3aaf61527958fd23d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_51.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00295343 -0.04853822 -0.00587368
+v 0.00488704 -0.04890731 -0.00587368
+v 0.00295343 -0.04092383 -0.00587365
+v 0.00295343 -0.04356604 -0.01100955
+v 0.00505734 -0.04892684 -0.00587368
+v 0.01834997 -0.03784684 -0.00587364
+v 0.01834997 -0.03087302 -0.01100950
+v 0.00295343 -0.03445752 -0.01100952
+v 0.00309962 -0.04356072 -0.01100955
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+v 0.01834997 -0.04466271 -0.00587366
+v 0.01834997 -0.04058843 -0.01100954
+v 0.00488704 -0.04349329 -0.01100955
+v 0.01834093 -0.04466625 -0.00587366
+v 0.00497445 -0.04348619 -0.01100955
+v 0.00602038 -0.04340101 -0.01100955
+v 0.00694423 -0.04332116 -0.01100955
+v 0.00703315 -0.04331229 -0.01100955
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+v 0.01221004 -0.04244633 -0.01100955
+v 0.01345491 -0.04216596 -0.01100954
+v 0.01377441 -0.04208256 -0.01100954
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+v 0.01561910 -0.04249602 -0.01002611
+v 0.01776521 -0.04213757 -0.00960427
+v 0.01776521 -0.04301241 -0.00855548
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+v 0.01684890 -0.04113852 -0.01100954
+v 0.01745174 -0.04092736 -0.01100954
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+f 32 34 37
+f 32 37 38
+f 32 38 33
+
diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_52.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a476e7b9a25f83e6f931dcdb1e121fd7169bb064
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_52.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.02821440 0.02196895 -0.01120129
+v -0.02821440 0.03544494 -0.00301539
+v -0.02821440 0.03587906 -0.01120124
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+v -0.02821440 0.04308823 -0.00301536
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+v -0.02821440 0.03686813 -0.01043593
+v -0.02731283 0.03724727 -0.01074446
+v -0.01630697 0.04361576 -0.01120121
+v -0.01522356 0.04511034 -0.01020351
+v -0.01522356 0.05000619 -0.00307304
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+v -0.02727976 0.04375035 -0.00301536
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+v -0.02806181 0.04286019 -0.00358673
+v -0.02821440 0.04278052 -0.00352743
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+v -0.02821440 0.03877207 -0.00868417
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+v -0.01525153 0.04514331 -0.01015944
+v -0.01522356 0.04517903 -0.01012979
+v -0.01522356 0.04969848 -0.00371813
+v -0.01544227 0.04951441 -0.00393369
+v -0.01695550 0.04938253 -0.00301534
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+v -0.02595220 0.04290691 -0.00579526
+v -0.02749975 0.04216785 -0.00522631
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+v -0.02555164 0.03808248 -0.01120123
+v -0.02821440 0.03904956 -0.00841492
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_53.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a405ec24d16a8ab9e065c360d186e0038f2bcc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_53.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_54.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d6536d38d2d08671c2613dc4dc559dacee85b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_54.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_55.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45dabf0d624d95c97fb7065318bd7eaa195d4869
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_55.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_56.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062a879e486e2d0ff2b25901aa1ec4007a48ec6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_56.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_57.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512bcd6157f2ac7f2f493654f729e36c62c1764f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_57.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_58.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6566a83cfed13cf99d7fdada853fa875d76dbf16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_58.obj
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_59.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c5f8fdaf2a9710139c9f92a941e7607dc01d68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_59.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_6.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556fcfc6fa965b6b64429e5b8be0fa133bc30ea9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_6.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_60.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca79f4e0616ebc55232563e15a39edb2f02c678
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_60.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_61.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d6b08a3cc7666811aa6d5d45f58c8fe5b533c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_61.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_62.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7e4b4692f05e9816d0e5a2ed4c879661093877
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_62.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_7.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d3a0dbb0621ed2f82f10d70405b9856432dc32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_7.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_8.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e980c7486c62bdcc9e1e6cae9ed0bd392f750cd3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_8.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_9.obj b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b17389a92613bcf9cd07cf46c79e02a4311bd017
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/mjcf/mesh/bowl_031_collision_9.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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