diff --git a/.gitattributes b/.gitattributes
index 3093a3fae35b6c0c37c552cbab285d47d05c3a30..184f567fad4f75b45b5674f9b8e45df598bb3061 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4284,3 +4284,7 @@ dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.us
 dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.urdf b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b84efc8a035440cfc0ca141d685decc9a12246c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl_006">
+   <link name="bowl_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>99e659d622065e70a621b32bae134ee6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>bowl</category>
+         <name>ceramic bowl</name>
+         <color>gray,brown</color>
+         <shape>hemisphere</shape>
+         <material>ceramic</material>
+         <description>textured ceramic bowl with gradient color design</description>
+         <min_height>0.0558</min_height>
+         <max_height>0.0558</max_height>
+         <real_height>0.0558</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428004400</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/99e659d622065e70a621b32bae134ee6/bowl_006.usd b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c4b4af6e95945148ec14b708dd38d043fcc3b51c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33077cc981e45c4f26518da65c95d10cdc7905d3520f3b7fab71972fd5420ccd
+size 128966550
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.glb b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c2e174e896d7ca307b3f2905d9688a28506c78ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025fba4fdc19e0367518dd3840e1746c28366eb71d50e67754f2518cfd1b4af1
+size 83881128
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.mtl b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..927d3225069d80935f55d059afbd8f6552e7ddd6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.mtl
@@ -0,0 +1,6 @@
+newmtl bowl_006_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/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6286cf0b77c6bf363db8d4dda5508f3534489850
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c07df1c12d3888fbde19398adb807baaab1f760bf8e5470adf5e9729340454f
+size 112623825
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006_collision.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98facde4a3d86e75e0eac7501e31f3eb6424b14d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7690ee78d08b0929068ad1d24aa38cdc1edaf249
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1aae2ee8acf32ab8c130de27051b6a1dda38247f281ec833ca3db350bd32415
+size 13291259
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/material.mtl b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..25130480931c3a76f24e151ee8191b0c80b1b598
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_006_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bowl_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/material_0.png b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7690ee78d08b0929068ad1d24aa38cdc1edaf249
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1aae2ee8acf32ab8c130de27051b6a1dda38247f281ec833ca3db350bd32415
+size 13291259
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/bowl_006.xml b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/bowl_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1ca773b0bf5ff6b1de6e3d8234b30cad8af035c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/bowl_006.xml
@@ -0,0 +1,142 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bowl_006">
+  <asset>
+    <material name="material_0" texture="texture_0_bowl_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bowl_006_geometry_Looks_material_0" type="2d" file="mesh/bowl_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bowl_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bowl_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bowl_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bowl_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bowl_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bowl_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bowl_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bowl_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bowl_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bowl_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bowl_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bowl_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bowl_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bowl_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bowl_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bowl_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bowl_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bowl_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bowl_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bowl_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bowl_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bowl_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bowl_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bowl_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bowl_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bowl_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bowl_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bowl_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bowl_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bowl_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bowl_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bowl_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/bowl_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/bowl_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/bowl_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/bowl_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/bowl_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/bowl_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/bowl_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/bowl_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/bowl_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/bowl_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/bowl_006_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/bowl_006_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/bowl_006_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/bowl_006_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/bowl_006_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/bowl_006_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/bowl_006_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/bowl_006_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/bowl_006_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/bowl_006_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/bowl_006_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/bowl_006_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/bowl_006_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/bowl_006_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/bowl_006_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/bowl_006_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/bowl_006_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/bowl_006_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/bowl_006_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/bowl_006_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/bowl_006_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/bowl_006_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/bowl_006_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bowl_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" 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/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b06f1da5ac5e32eeb3b43fc7af185ca2f54e4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6d74944d1fac5bf2b0a0a448a64368184556b26172df47b79b40b49ed6a6a6
+size 107956912
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d142c4b968785c48a2288204a40cc4b54e439d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision.obj
@@ -0,0 +1,26142 @@
+# https://github.com/mikedh/trimesh
+
+o bowl_006_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_0.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dff3cb38a32377a5ce3ffef26e83d81ed3918d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_0.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_1.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47757f046dac3e28d5441ac865882aa8ab5ed67a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_10.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb0aa50586212ca407cb0436c7ef6568c19064d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_11.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9007a1e832f62e1dfa3e53ff891c190357a6e44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_12.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe7c77cc924db758d0ae0b43ac3ac8b4566d435
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_13.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47ce9f2b6cc42d166479c8ffaffe2db36289d3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_14.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1527c4c3c41fece5b71620946ea58947f5676f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_14.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_15.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e443ad047ebc5f0b6dfd4651ad1692b5a7c4b993
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_15.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_16.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99579e84e075af9af7ca9ae75a5264370c860d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_17.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f9ff9ca782df6873e645221fa9dcbd95510df2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_18.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432488fb497058dfb616042fdf1a61a231546ff3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_18.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_19.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea74993fb66fe7ba4e344c6414916cb39adc3bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_2.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973386199ccedba6a7aa3c96fe4b692575d9f233
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_20.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16dbf7826a3da5f756e712d98d47e923a0f9b90f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_21.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5374a86f9b0ebd40a7f3de38e03858f6e2caed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_21.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_22.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178d59f5c5b3f9dc8b8595c0dbdde1a247ed39bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_22.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_23.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcd3b3cbfb443178566e088ddbba5ebd7ba6cc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_23.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_24.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661fcbde2d8c8518dc14c86207cd643e8c621a09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_24.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_25.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf1e570a98884237b4738f932491bb82b2ccc38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_26.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42600fe45a747fbf8a08531838146d6ba075c2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_27.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c575bc22ac74f39e14f8f8d57fd7ce6b9af7fadb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_27.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_28.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4396561edd2fdebc434a323e0facfc4a749301
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_29.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a7af815ad7f5a1b9c4c2390b7aa4a2b297a4a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_29.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_3.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2714fe28a76891817a50f50010d2ee1191d766
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_3.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_30.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00209068f41b9fcc6da3d46f80232a11dababbb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_31.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042870c3521e4ab915643486a3c969f88b282a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_31.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_32.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b3d265e201fcbd1c60754d594ef3f6edb4caf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_33.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e784938a2fb876ed26c0a9e11a99e8b2e9363d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_33.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_34.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da814e6d8efc2dc4a5e5c78ca2e0648743b0639
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_34.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_35.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e72fac14af32e6184a14a97756094c0f87fa0cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_35.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_36.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036abd950afe55e61b09a9dbee93e544cce1f9bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_36.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_37.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811a849c3005470d1cd239749ac2116271ac6859
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_37.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_38.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad714cc23e8c603ca8047682c5fefc8fac35fae8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_38.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00841788 0.01264553 -0.02353327
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+v 0.00013003 0.01264552 -0.02245980
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+v -0.00206636 0.02562459 -0.02106284
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_39.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ca31381fca9f3121bdb9a4c2b7ba2fbd673447
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_39.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00793454 -0.02637553 -0.01992611
+v 0.00818191 -0.02637553 -0.01990111
+v 0.00793454 -0.02637555 -0.01229084
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_4.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..611f3b305ea1e88625f10f7f48461e48eab6dbc7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_4.obj
@@ -0,0 +1,856 @@
+# https://github.com/mikedh/trimesh
+v -0.03427982 -0.02644674 0.00734216
+v -0.04361418 -0.02644674 0.00734216
+v -0.03870045 -0.02644679 0.02261181
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+f 215 254 255
+f 215 255 226
+f 215 226 216
+f 217 256 218
+f 217 219 253
+f 217 253 257
+f 217 257 256
+f 218 256 258
+f 218 258 254
+f 221 223 222
+f 224 259 225
+f 224 228 259
+f 225 259 230
+f 226 255 260
+f 226 260 227
+f 227 260 261
+f 227 261 228
+f 228 233 259
+f 228 261 234
+f 228 234 233
+f 230 259 232
+f 230 232 231
+f 232 259 233
+f 234 261 262
+f 234 262 235
+f 235 263 236
+f 235 262 263
+f 236 263 237
+f 237 264 239
+f 237 263 264
+f 238 239 264
+f 238 264 240
+f 240 264 265
+f 240 265 266
+f 240 266 241
+f 241 266 267
+f 241 267 242
+f 242 267 245
+f 242 245 243
+f 245 267 246
+f 246 267 268
+f 246 268 248
+f 246 248 247
+f 248 268 249
+f 249 268 269
+f 249 269 270
+f 249 270 271
+f 249 271 258
+f 249 258 250
+f 250 258 272
+f 250 272 273
+f 250 273 253
+f 250 253 251
+f 253 272 257
+f 253 273 272
+f 254 258 274
+f 254 274 255
+f 255 274 275
+f 255 275 276
+f 255 276 277
+f 255 277 260
+f 256 257 272
+f 256 272 258
+f 258 271 278
+f 258 278 275
+f 258 275 279
+f 258 279 274
+f 260 277 280
+f 260 280 261
+f 261 280 262
+f 262 280 281
+f 262 281 264
+f 262 264 263
+f 264 281 282
+f 264 282 265
+f 265 283 266
+f 265 282 284
+f 265 284 283
+f 266 283 267
+f 267 283 285
+f 267 285 268
+f 268 285 270
+f 268 270 269
+f 270 285 271
+f 271 275 278
+f 271 285 275
+f 274 279 275
+f 275 285 276
+f 276 282 286
+f 276 286 277
+f 276 285 284
+f 276 284 282
+f 277 286 280
+f 280 286 281
+f 281 286 282
+f 283 284 285
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_40.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7871318932917a2b22f0ad6e2c96c366ec07f3cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_40.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v -0.01369109 -0.00714234 -0.02293473
+v -0.01369109 -0.01306281 -0.02881425
+v -0.01369109 -0.01417944 -0.02293475
+v -0.00558045 -0.01417944 -0.02293475
+v -0.01369109 -0.01417941 -0.02962881
+v -0.01212692 -0.01417942 -0.02849380
+v -0.01262872 -0.01417941 -0.02891255
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 6
+f 3 6 4
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_41.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbb23622e6963a433d2f80fac393a50afa86c02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_41.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01512860 0.01355220 -0.01527912
+v 0.01493431 -0.01317780 -0.01547992
+v 0.01512860 0.00018856 -0.01595793
+v 0.01512860 0.01355223 -0.02335160
+v 0.00012998 0.01355220 -0.01585516
+v -0.01494518 0.01264283 -0.01541661
+v -0.01368818 -0.01417946 -0.01548229
+v 0.01493431 -0.01317778 -0.02281833
+v 0.00012998 -0.01417946 -0.01589398
+v 0.01512860 0.00018858 -0.02305692
+v 0.01512860 0.00324244 -0.02335164
+v 0.00629133 0.01355223 -0.02335160
+v 0.00012998 0.01355222 -0.02264597
+v -0.01494518 0.01264285 -0.02298338
+v -0.01494518 -0.00015890 -0.01593344
+v -0.01368818 -0.01417944 -0.02293291
+v 0.00012998 -0.01417944 -0.02263343
+v -0.00558098 -0.01417944 -0.02293291
+v -0.01494518 0.00250950 -0.02298342
+v -0.01494518 -0.00015888 -0.02282144
+f 1 2 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 10
+f 2 10 3
+f 2 7 9
+f 2 9 17
+f 2 17 8
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 19
+f 6 19 20
+f 6 20 15
+f 6 15 7
+f 7 15 20
+f 7 20 16
+f 7 16 18
+f 7 18 17
+f 7 17 9
+f 8 11 10
+f 8 17 18
+f 8 18 11
+f 11 18 16
+f 11 16 12
+f 12 16 19
+f 12 19 14
+f 12 14 13
+f 16 20 19
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_42.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60f75d5a1e0253ff15d768b16497f630f15d393
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_42.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.01494518 0.00250891 -0.02298584
+v -0.01494518 0.01264552 -0.02298580
+v -0.01494518 0.01136855 -0.02921067
+v -0.01340199 0.01264555 -0.02895022
+v -0.00712123 0.01264552 -0.02298580
+v -0.01494518 0.01264555 -0.02986006
+v -0.01494518 0.01141420 -0.02923960
+v -0.01448261 0.01264555 -0.02973960
+v -0.01494518 0.01143801 -0.02925171
+f 1 2 6
+f 1 6 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 4
+f 2 4 8
+f 2 8 6
+f 3 7 8
+f 3 8 4
+f 6 8 9
+f 7 9 8
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_43.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b118b7d52dcf4a15fc8d91d220407158996b629
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_43.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00693492 -0.01317839 -0.02281978
+v 0.01375638 -0.01317836 -0.02902744
+v 0.01493415 -0.01317839 -0.02281978
+v 0.01478144 0.00018933 -0.02281973
+v 0.01462404 -0.01317836 -0.02967820
+v 0.01493415 -0.01317836 -0.02984742
+v 0.01493415 0.00018933 -0.02281973
+v 0.01493415 0.00018933 -0.02291466
+v 0.01485192 -0.01308808 -0.02978414
+v 0.01493415 -0.01316789 -0.02984536
+v 0.01493415 -0.01284600 -0.02969058
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 11
+f 3 11 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 8 11 9
+f 9 11 10
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_44.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7992dbea851de82afcb169cd3d9b72d649f32a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_44.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02600122 -0.01504620 -0.01062586
+v 0.01493493 -0.01504618 -0.01504328
+v 0.02600122 -0.01504617 -0.01839212
+v 0.02600122 0.00018930 -0.01269938
+v 0.01493493 0.00018931 -0.01593806
+v 0.01493493 -0.01504616 -0.02222698
+v 0.02600122 -0.01359659 -0.01878729
+v 0.02099885 -0.01504616 -0.02222698
+v 0.02187952 -0.01366369 -0.02222697
+v 0.02191202 -0.01361150 -0.02222697
+v 0.02288151 -0.01186663 -0.02222696
+v 0.02332347 -0.01098674 -0.02222696
+v 0.02376543 -0.00993088 -0.02222696
+v 0.02434170 -0.00816364 -0.02222695
+v 0.02482266 -0.00631289 -0.02222694
+v 0.02514763 -0.00488867 -0.02222694
+v 0.02517904 -0.00474997 -0.02222694
+v 0.02600122 0.00018933 -0.02117537
+v 0.01493493 0.00018933 -0.02222692
+v 0.02600122 -0.01346088 -0.01882249
+v 0.02546610 -0.00285448 -0.02222693
+v 0.02600122 -0.01199341 -0.01917678
+v 0.02600122 -0.00106935 -0.02120603
+v 0.02557334 -0.00106935 -0.02222692
+v 0.02555601 0.00018933 -0.02222692
+v 0.02546827 -0.00283957 -0.02222693
+v 0.02600122 -0.01180401 -0.01922107
+v 0.02600122 -0.00244586 -0.02107431
+v 0.02600122 -0.00283957 -0.02102208
+v 0.02600122 -0.00650081 -0.02031462
+v 0.02600122 -0.00991896 -0.01963443
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 7
+f 1 7 20
+f 1 20 22
+f 1 22 27
+f 1 27 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 18
+f 1 18 4
+f 1 4 5
+f 1 5 2
+f 2 5 19
+f 2 19 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 7
+f 4 18 25
+f 4 25 19
+f 4 19 5
+f 6 19 25
+f 6 25 24
+f 6 24 26
+f 6 26 21
+f 6 21 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 7 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 24
+f 18 24 25
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 29
+f 24 29 26
+f 26 29 30
+f 26 30 31
+f 26 31 27
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_45.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf2d25d6253d5b82e34cc2bd83d6e06c4a067305
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_45.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01494518 0.02562475 -0.01081309
+v -0.02621352 0.02562472 -0.00406303
+v -0.01494518 0.01466933 -0.01494205
+v -0.01494518 0.02562478 -0.01825130
+v -0.02621352 0.02562476 -0.01340178
+v -0.02621352 0.01466932 -0.01052967
+v -0.01494518 0.01466936 -0.02150769
+v -0.01494518 0.02049939 -0.02150766
+v -0.01559044 0.02028811 -0.02150767
+v -0.01661293 0.02562478 -0.01774585
+v -0.02560466 0.02562476 -0.01375354
+v -0.02547009 0.02549070 -0.01390893
+v -0.02621352 0.02555612 -0.01344105
+v -0.02621352 0.01466935 -0.01810619
+v -0.02115181 0.01466936 -0.02150769
+v -0.01565221 0.02024521 -0.02150767
+v -0.02002674 0.02562477 -0.01649420
+v -0.01854651 0.02562477 -0.01706624
+v -0.01828068 0.02562477 -0.01716528
+v -0.01737180 0.02562477 -0.01748630
+v -0.02546017 0.02562476 -0.01383550
+v -0.02621352 0.02544244 -0.01350594
+v -0.02519544 0.02562476 -0.01398406
+v -0.02488329 0.02490190 -0.01456805
+v -0.02606351 0.02430024 -0.01424190
+v -0.02621352 0.01554128 -0.01786200
+v -0.02099850 0.01487635 -0.02150769
+v -0.02621352 0.01568821 -0.01781589
+v -0.02621352 0.01663628 -0.01750170
+v -0.02621352 0.01702023 -0.01736339
+v -0.02621352 0.01828040 -0.01690916
+v -0.02621352 0.01920702 -0.01655740
+v -0.02621352 0.01973576 -0.01634737
+v -0.02621352 0.02065809 -0.01595462
+v -0.01627321 0.01980763 -0.02150767
+v -0.02023742 0.02562477 -0.01640540
+v -0.02621352 0.02445039 -0.01406944
+v -0.02381448 0.02562476 -0.01472173
+v -0.02368212 0.02549070 -0.01486346
+v -0.02374278 0.02375865 -0.01576165
+v -0.02436488 0.02260787 -0.01603658
+v -0.02547009 0.02371252 -0.01487712
+v -0.02621352 0.02422302 -0.01419580
+v -0.02621352 0.02332535 -0.01466538
+v -0.01983372 0.01634351 -0.02150768
+v -0.02608337 0.02072673 -0.01599901
+v -0.02621352 0.02085865 -0.01586240
+v -0.01679603 0.01936041 -0.02150767
+v -0.02195370 0.02548963 -0.01571384
+v -0.02165699 0.02562477 -0.01577531
+v -0.02360932 0.02562476 -0.01482590
+v -0.02256367 0.02437747 -0.01602803
+v -0.01935942 0.01686366 -0.02150768
+v -0.02548223 0.02198905 -0.01573434
+v -0.02621352 0.02272261 -0.01496934
+v -0.02621352 0.02194293 -0.01534330
+v -0.02209158 0.02562477 -0.01557040
+v -0.02194377 0.02562477 -0.01564041
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 36
+f 1 36 50
+f 1 50 58
+f 1 58 57
+f 1 57 51
+f 1 51 38
+f 1 38 23
+f 1 23 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 13
+f 2 13 22
+f 2 22 37
+f 2 37 43
+f 2 43 44
+f 2 44 55
+f 2 55 56
+f 2 56 47
+f 2 47 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 26
+f 2 26 14
+f 2 14 6
+f 2 6 3
+f 3 6 14
+f 3 14 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 7 15 27
+f 7 27 45
+f 7 45 53
+f 7 53 48
+f 7 48 35
+f 7 35 16
+f 7 16 9
+f 7 9 8
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 12
+f 12 22 13
+f 12 21 23
+f 12 23 24
+f 12 24 25
+f 12 25 22
+f 14 26 15
+f 15 26 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 27
+f 16 35 17
+f 17 35 36
+f 22 25 37
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 43 37
+f 25 42 44
+f 25 44 43
+f 27 34 46
+f 27 46 45
+f 34 47 46
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 40 52 48
+f 40 48 53
+f 40 53 41
+f 41 54 55
+f 41 55 42
+f 41 53 45
+f 41 45 54
+f 42 55 44
+f 45 46 54
+f 46 47 54
+f 47 56 54
+f 48 52 49
+f 49 52 51
+f 49 51 57
+f 49 57 58
+f 49 58 50
+f 54 56 55
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_46.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41ab0aae1ab82b04c812d55ad698efb2f24e1ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_46.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01525212 -0.02644426 -0.01807047
+v -0.01538842 -0.02644426 -0.01803064
+v -0.01525212 -0.02097335 -0.02215889
+v -0.01525212 -0.02644429 -0.01040963
+v -0.01580164 -0.02644426 -0.01790571
+v -0.01633506 -0.02016298 -0.02215888
+v -0.01525212 -0.01417944 -0.02215886
+v -0.01634150 -0.02644426 -0.01773188
+v -0.01661304 -0.02644427 -0.01763954
+v -0.01829917 -0.02644427 -0.01704203
+v -0.01987475 -0.02644427 -0.01644270
+v -0.02068615 -0.02644427 -0.01610773
+v -0.02081924 -0.02644427 -0.01605160
+v -0.02093730 -0.02644427 -0.01599728
+v -0.02621464 -0.02644432 -0.00366135
+v -0.01525212 -0.01417946 -0.01512450
+v -0.01720549 -0.01940183 -0.02215888
+v -0.02197517 -0.02644427 -0.01550298
+v -0.02346274 -0.02644428 -0.01477691
+v -0.02426341 -0.02644428 -0.01437132
+v -0.02171973 -0.01417944 -0.02215886
+v -0.02621464 -0.01417948 -0.01098537
+v -0.02621464 -0.02644428 -0.01325597
+v -0.01815320 -0.01853143 -0.02215888
+v -0.02439006 -0.02644428 -0.01430433
+v -0.02621464 -0.01523233 -0.01820985
+v -0.02621464 -0.01417945 -0.01848687
+v -0.02136876 -0.01478452 -0.02215886
+v -0.02621464 -0.02025184 -0.01643543
+v -0.02621464 -0.01872714 -0.01702751
+v -0.02621464 -0.01719644 -0.01758880
+v -0.02621464 -0.01654573 -0.01781694
+v -0.02621464 -0.01623119 -0.01792196
+v -0.02621464 -0.02585721 -0.01361084
+v -0.02547837 -0.02644428 -0.01368871
+v -0.01902364 -0.01762261 -0.02215887
+v -0.02497071 -0.02534698 -0.01461756
+v -0.02615132 -0.02476111 -0.01428983
+v -0.02450490 -0.02644428 -0.01424096
+v -0.02068830 -0.01565131 -0.02215887
+v -0.02621464 -0.02237921 -0.01546856
+v -0.02621464 -0.02119667 -0.01604253
+v -0.02621464 -0.02112704 -0.01607150
+v -0.02552237 -0.02590403 -0.01398747
+v -0.02621464 -0.02472509 -0.01427173
+v -0.01981787 -0.01675222 -0.02215887
+v -0.02621464 -0.02462305 -0.01432786
+v -0.02621464 -0.02380907 -0.01475698
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 4
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_47.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faabfdffde70c645a2c6fd3b079d5e315da215c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_47.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_48.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2209edec73357eae5a3234959e4c95a1b89c07c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_48.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_49.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2fc7a1afda7eb956e5c153f441bfab1bff19564
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_49.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_5.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed35913e8846fd6941ad27d1dcd49bc0d00ae30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_5.obj
@@ -0,0 +1,724 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_50.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ebc64c2a7d8acfb322ea8094ddd743cc1013485
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_50.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02621352 -0.00015665 -0.02071891
+v -0.02621352 -0.00015668 -0.01286820
+v -0.02621352 0.00070250 -0.02070816
+v -0.02583850 -0.00015665 -0.02150666
+v -0.01494518 -0.00015667 -0.01593218
+v -0.02621352 0.01466787 -0.01052852
+v -0.02582747 0.00070250 -0.02150666
+v -0.02621352 0.00247302 -0.02060175
+v -0.01494518 -0.00015665 -0.02150666
+v -0.01494518 0.01466788 -0.01494340
+v -0.02621352 0.01466790 -0.01810733
+v -0.02578997 0.00164581 -0.02150665
+v -0.02621352 0.00424354 -0.02040185
+v -0.01494518 0.01466791 -0.02150661
+v -0.02139778 0.01433848 -0.02150661
+v -0.02175406 0.01375362 -0.02150661
+v -0.02301921 0.01157384 -0.02150662
+v -0.02331702 0.01105139 -0.02150662
+v -0.02364682 0.01030979 -0.02150662
+v -0.02621352 0.01459389 -0.01813097
+v -0.02115181 0.01466791 -0.02150661
+v -0.02573040 0.00247302 -0.02150665
+v -0.02565871 0.00335539 -0.02150665
+v -0.02621352 0.00517380 -0.02024924
+v -0.02509617 0.00613599 -0.02150664
+v -0.02621352 0.01396694 -0.01830507
+v -0.02621352 0.00605326 -0.02009126
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+v -0.02553186 0.00424355 -0.02150664
+v -0.02533111 0.00518687 -0.02150664
+v -0.02621352 0.01309474 -0.01853721
+v -0.02621352 0.01145192 -0.01894238
+v -0.02621352 0.01232267 -0.01873173
+f 1 2 6
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_51.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c50516fe94cdd7276632af02ce2720667921d2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_51.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01493493 -0.02637682 -0.01827840
+v 0.01493493 -0.02119173 -0.02222700
+v 0.01512883 -0.02637682 -0.01822451
+v 0.01493493 -0.02637685 -0.01062010
+v 0.01493493 -0.01504727 -0.02222698
+v 0.01536930 -0.02087785 -0.02222700
+v 0.02133141 -0.02637683 -0.01595379
+v 0.02102810 -0.02637683 -0.01609032
+v 0.02026009 -0.02637683 -0.01641907
+v 0.01937401 -0.02637683 -0.01677117
+v 0.01875440 -0.02637683 -0.01700651
+v 0.01713930 -0.02637683 -0.01759395
+v 0.01703856 -0.02637683 -0.01762988
+v 0.01684033 -0.02637682 -0.01769815
+v 0.01572785 -0.02637682 -0.01805205
+v 0.02600122 -0.02637688 -0.00387619
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+v 0.02099885 -0.01504727 -0.02222698
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+v 0.02289884 -0.02637683 -0.01519029
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+v 0.02600122 -0.02418746 -0.01475374
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+f 46 49 47
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_52.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d993b2f45b0e51fe9d481998a5f41124fc2be72d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_52.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01494518 0.02562455 -0.01081232
+v -0.00841852 0.02562456 -0.01241411
+v -0.01494518 0.02562458 -0.01825222
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+v -0.00841852 0.01264550 -0.01599880
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+v -0.01307056 0.02562458 -0.01875565
+v -0.01160933 0.02562458 -0.01911182
+f 1 2 6
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+f 1 7 3
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+f 16 21 22
+f 16 22 17
+f 19 20 23
+f 20 22 21
+f 20 21 24
+f 20 24 25
+f 20 25 23
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_53.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ae266c8718ee483e1e05d18de23cf8adc78325
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_53.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
+v -0.02621567 0.01336973 -0.01095125
+v -0.03884588 0.01336968 0.00315805
+v -0.02621567 -0.00015668 -0.01286541
+v -0.02621567 0.01336976 -0.01846280
+v -0.04613147 0.01336968 0.00315805
+v -0.04131230 -0.00015674 0.00315800
+v -0.02621567 -0.00015665 -0.02071819
+v -0.02621567 0.01309435 -0.01853525
+v -0.02675399 0.01336976 -0.01818936
+v -0.04645103 0.01231441 0.00315805
+v -0.04332404 0.01336970 -0.00296993
+v -0.04350420 0.01291820 -0.00291617
+v -0.04405753 0.01220984 -0.00221972
+v -0.04812391 -0.00015674 0.00315800
+v -0.03119569 -0.00015667 -0.01760279
+v -0.03254900 0.00070264 -0.01674739
+v -0.02621567 0.00070266 -0.02070650
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+v -0.02621567 0.01232111 -0.01872924
+v -0.02780276 0.01309435 -0.01771258
+v -0.02771268 0.01336975 -0.01768220
+v -0.04670840 0.01131741 0.00315804
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+f 233 243 242
+f 233 242 240
+f 233 240 234
+f 234 240 239
+f 234 239 235
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_54.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54cab6bed3038bf19e06879f47b601e4c6b17889
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_54.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00013079 -0.02637550 -0.02690400
+v 0.00013079 -0.02635870 -0.02745991
+v 0.00109490 -0.02635224 -0.02745991
+v 0.00109490 -0.02637550 -0.02666299
+v 0.00013079 -0.02637555 -0.01289560
+v 0.00013079 -0.02559645 -0.02899567
+v 0.00109490 -0.02559386 -0.02899391
+v 0.00286573 -0.02553056 -0.02895168
+v 0.00286573 -0.02622176 -0.02745991
+v 0.00793454 -0.02637553 -0.01992531
+v 0.00793454 -0.02637555 -0.01229220
+v 0.00013079 -0.01317841 -0.01580349
+v 0.00013079 -0.02487942 -0.02947065
+v 0.00109490 -0.02427738 -0.02986471
+v 0.00286573 -0.02421925 -0.02982248
+v 0.00463581 -0.02540653 -0.02885493
+v 0.00463581 -0.02597241 -0.02745991
+v 0.00640664 -0.02560421 -0.02745990
+v 0.00793454 -0.02518821 -0.02745990
+v 0.00314840 -0.01317841 -0.01582635
+v 0.00286573 -0.01317841 -0.01582284
+v 0.00137756 -0.01317841 -0.01580700
+v 0.00109490 -0.01317841 -0.01580524
+v 0.00028435 -0.01317841 -0.01580349
+v 0.00793454 -0.01317841 -0.01599876
+v 0.00668930 -0.01317841 -0.01593718
+v 0.00640664 -0.01317841 -0.01592487
+v 0.00491847 -0.01317841 -0.01586682
+v 0.00463581 -0.01317841 -0.01585978
+v 0.00013079 -0.01317839 -0.02241451
+v 0.00013079 -0.02427997 -0.02986646
+v 0.00286573 -0.02333427 -0.03010923
+v 0.00426224 -0.02326192 -0.03008988
+v 0.00109490 -0.02339241 -0.03012155
+v 0.00544330 -0.02317665 -0.03006877
+v 0.00476568 -0.02394406 -0.02979258
+v 0.00640664 -0.02408359 -0.02951111
+v 0.00640664 -0.02522566 -0.02867197
+v 0.00762514 -0.02507064 -0.02847847
+v 0.00793454 -0.02517012 -0.02755489
+v 0.00793454 -0.01317839 -0.02307596
+v 0.00793454 -0.01713169 -0.02885666
+v 0.00013079 -0.01904634 -0.02908009
+v 0.00013079 -0.02379807 -0.03000544
+v 0.00286573 -0.02231235 -0.03023060
+v 0.00476568 -0.02247642 -0.03017607
+v 0.00013079 -0.02339499 -0.03012155
+v 0.00013079 -0.02231235 -0.03024468
+v 0.00109490 -0.02231235 -0.03024292
+v 0.00640664 -0.02301387 -0.03004061
+v 0.00640664 -0.02212889 -0.03017431
+v 0.00793454 -0.02186146 -0.03014968
+v 0.00793454 -0.02418824 -0.02909770
+v 0.00793454 -0.02274644 -0.02997025
+v 0.00793454 -0.02460683 -0.02877225
+v 0.00793454 -0.01826342 -0.02986293
+v 0.00013079 -0.01948947 -0.02947766
+v 0.00793454 -0.02054240 -0.03026227
+v 0.00013079 -0.02090801 -0.03019366
+v 0.00640664 -0.02054240 -0.03026051
+v 0.00793454 -0.01914840 -0.03018486
+v 0.00013079 -0.02002175 -0.02995088
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 12
+f 1 12 30
+f 1 30 43
+f 1 43 57
+f 1 57 62
+f 1 62 59
+f 1 59 48
+f 1 48 47
+f 1 47 44
+f 1 44 31
+f 1 31 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 16 9
+f 8 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 40
+f 10 40 55
+f 10 55 53
+f 10 53 54
+f 10 54 52
+f 10 52 58
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+f 10 61 56
+f 10 56 42
+f 10 42 41
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+f 11 20 21
+f 11 21 22
+f 11 22 23
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+f 11 24 12
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 20
+f 12 24 23
+f 12 23 22
+f 12 22 21
+f 12 21 20
+f 12 20 29
+f 12 29 28
+f 12 28 27
+f 12 27 26
+f 12 26 25
+f 12 25 41
+f 12 41 30
+f 13 31 14
+f 14 32 33
+f 14 33 15
+f 14 31 34
+f 14 34 32
+f 15 33 35
+f 15 35 36
+f 15 36 16
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 17 38 39
+f 17 39 18
+f 18 39 40
+f 18 40 19
+f 30 41 42
+f 30 42 43
+f 31 44 34
+f 32 34 45
+f 32 45 46
+f 32 46 33
+f 33 46 35
+f 34 47 48
+f 34 48 49
+f 34 49 45
+f 34 44 47
+f 35 50 36
+f 35 46 51
+f 35 51 52
+f 35 52 50
+f 36 50 37
+f 37 53 38
+f 37 50 54
+f 37 54 53
+f 38 55 39
+f 38 53 55
+f 39 55 40
+f 42 56 57
+f 42 57 43
+f 45 49 58
+f 45 58 51
+f 45 51 46
+f 48 59 60
+f 48 60 58
+f 48 58 49
+f 50 52 54
+f 51 58 52
+f 56 61 62
+f 56 62 57
+f 58 60 61
+f 59 61 60
+f 59 62 61
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_55.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b11bfac456cd95d119264a8124367eddb763b4a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_55.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01512860 0.02729543 -0.01015604
+v 0.01512860 0.01355354 -0.01527980
+v 0.01512860 0.02729545 -0.01748792
+v 0.00013003 0.02729544 -0.01234846
+v 0.00013003 0.01355354 -0.01585283
+v 0.01512860 0.01355356 -0.02087684
+v 0.01512860 0.02721070 -0.01753410
+v 0.01174012 0.02292335 -0.02087681
+v 0.01499353 0.02729545 -0.01752570
+v 0.00013003 0.02729546 -0.01962262
+v 0.00013003 0.01355356 -0.02087684
+v 0.01512860 0.02085567 -0.02087681
+v 0.01512860 0.02700218 -0.01764745
+v 0.01355475 0.02192651 -0.02087681
+v 0.01008699 0.02369284 -0.02087680
+v 0.01397904 0.02729546 -0.01780277
+v 0.00013003 0.02576859 -0.02087680
+v 0.00109460 0.02729546 -0.01962472
+v 0.01512860 0.02646274 -0.01793291
+v 0.01172984 0.02729546 -0.01833487
+v 0.01306585 0.02729546 -0.01802947
+v 0.01348868 0.02729546 -0.01792766
+v 0.00815931 0.02434933 -0.02087680
+v 0.00095953 0.02576994 -0.02087680
+v 0.00109460 0.02576994 -0.02087680
+v 0.00286665 0.02729546 -0.01956070
+v 0.01055239 0.02729546 -0.01856997
+v 0.00476056 0.02535559 -0.02087680
+v 0.00994751 0.02729546 -0.01869066
+v 0.00286665 0.02568115 -0.02087680
+v 0.00463723 0.02729546 -0.01942637
+v 0.00302374 0.02565693 -0.02087680
+v 0.00640782 0.02729546 -0.01923326
+v 0.00802424 0.02729546 -0.01901286
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 29
+f 1 29 34
+f 1 34 33
+f 1 33 31
+f 1 31 26
+f 1 26 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 11
+f 4 11 5
+f 6 11 17
+f 6 17 24
+f 6 24 25
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+f 6 30 32
+f 6 32 28
+f 6 28 23
+f 6 23 15
+f 6 15 8
+f 6 8 14
+f 6 14 12
+f 7 13 14
+f 7 14 8
+f 8 15 16
+f 8 16 9
+f 10 18 17
+f 12 14 19
+f 13 19 14
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 15 23 20
+f 17 18 24
+f 18 25 24
+f 18 26 25
+f 20 23 27
+f 23 28 29
+f 23 29 27
+f 25 26 30
+f 26 31 30
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 31 33
+f 30 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_56.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d2b9ed5c638bd53dea1a2637eebac4a2d77792
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_56.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00841852 0.02403518 -0.02097628
+v -0.00841852 0.02414325 -0.02562502
+v -0.00957498 0.02371215 -0.02097628
+v -0.00841852 0.01264552 -0.02097632
+v -0.00841852 0.02410612 -0.02676514
+v -0.00953025 0.02375493 -0.02571965
+v -0.00970277 0.02366037 -0.02097628
+v -0.01494518 0.01264552 -0.02097632
+v -0.00841852 0.01264553 -0.02353499
+v -0.00841852 0.02407798 -0.02746213
+v -0.00953025 0.02368290 -0.02746122
+v -0.01095379 0.02308410 -0.02746123
+v -0.01102088 0.02311673 -0.02571966
+v -0.01073400 0.02317187 -0.02097628
+v -0.01494518 0.01264555 -0.02985979
+v -0.01494518 0.02068098 -0.02097629
+v -0.01340217 0.01264555 -0.02894987
+v -0.00844535 0.01565645 -0.02846397
+v -0.00841852 0.01564744 -0.02841665
+v -0.00841852 0.02337788 -0.02890889
+v -0.00953025 0.02318091 -0.02875056
+v -0.01066819 0.02295015 -0.02849580
+v -0.01183871 0.02265976 -0.02746123
+v -0.01190579 0.02269464 -0.02571966
+v -0.01316001 0.02191348 -0.02097629
+v -0.01453691 0.01264555 -0.02975332
+v -0.01494518 0.01320609 -0.03014550
+v -0.01491196 0.02070462 -0.02097629
+v -0.01494518 0.02086896 -0.02571966
+v -0.01448260 0.01264555 -0.02973877
+v -0.00841852 0.01570485 -0.02849946
+v -0.00841852 0.02203958 -0.02980243
+v -0.00947786 0.02181221 -0.02968869
+v -0.01127517 0.02202269 -0.02900990
+v -0.01307056 0.02144190 -0.02873510
+v -0.01408774 0.02114811 -0.02844666
+v -0.01307056 0.02198216 -0.02746123
+v -0.01307056 0.02204743 -0.02571966
+v -0.01431712 0.02130006 -0.02571966
+v -0.01323349 0.02186846 -0.02097629
+v -0.01445576 0.01272097 -0.02976970
+v -0.01494518 0.01323648 -0.03015915
+v -0.00847410 0.01746188 -0.03010181
+v -0.01427239 0.02126968 -0.02746123
+v -0.01494518 0.02080706 -0.02746123
+v -0.00841852 0.01739096 -0.03001992
+v -0.00841852 0.01658731 -0.02936205
+v -0.00841852 0.02119765 -0.03010543
+v -0.00885299 0.02113237 -0.03009178
+v -0.01003373 0.02084985 -0.03003537
+v -0.01130073 0.02052118 -0.02992709
+v -0.01298622 0.02004844 -0.02966231
+v -0.01474328 0.02015875 -0.02888616
+v -0.01494518 0.02006757 -0.02884521
+v -0.01494518 0.01348298 -0.03017552
+v -0.00841852 0.01839610 -0.03021554
+v -0.00841852 0.01754404 -0.03011000
+v -0.00841852 0.02019589 -0.03021918
+v -0.00947786 0.02022628 -0.03017187
+v -0.01130073 0.01963535 -0.03013547
+v -0.01233963 0.01937310 -0.03009270
+v -0.01351973 0.01896564 -0.03000990
+v -0.01489535 0.01838935 -0.02984521
+v -0.01494518 0.01839047 -0.02982337
+v -0.01484168 0.01486631 -0.03026106
+v -0.01494518 0.01487081 -0.03025651
+v -0.00953025 0.01840623 -0.03026376
+v -0.01130073 0.01840623 -0.03025467
+v -0.01298622 0.01838935 -0.03016094
+v -0.01434139 0.01778717 -0.03011909
+v -0.01494518 0.01830605 -0.02986158
+v -0.01307056 0.01663683 -0.03027197
+v -0.01494518 0.01668298 -0.03018188
+v -0.01489535 0.01670437 -0.03018461
+v -0.01494518 0.01675389 -0.03017369
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 40
+f 1 40 28
+f 1 28 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
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+f 1 31 47
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+f 1 48 32
+f 1 32 20
+f 1 20 10
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+f 1 5 2
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+f 4 8 15
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+f 4 17 9
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+f 9 17 18
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+f 29 44 45
+f 29 40 39
+f 30 41 43
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+f 32 48 49
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+f 32 50 51
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+f 33 51 34
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+f 34 52 35
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+f 36 45 44
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+f 36 53 54
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+f 42 57 43
+f 43 57 46
+f 48 58 59
+f 48 59 49
+f 49 59 60
+f 49 60 61
+f 49 61 50
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+f 52 62 63
+f 52 63 53
+f 53 63 64
+f 53 64 54
+f 55 65 56
+f 55 66 65
+f 56 65 67
+f 56 67 58
+f 58 67 68
+f 58 68 59
+f 59 68 60
+f 60 68 69
+f 60 69 61
+f 61 69 70
+f 61 70 62
+f 62 70 71
+f 62 71 63
+f 63 71 64
+f 65 66 72
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+f 66 73 74
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+f 67 72 68
+f 68 72 74
+f 68 74 69
+f 69 74 70
+f 70 74 73
+f 70 73 75
+f 70 75 71
+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_57.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85628fe6f8d55ffa55177a96f5bb604fe728111
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00013016 -0.02689529 -0.02690523
+v 0.00013016 -0.02689529 -0.02547029
+v 0.00013016 -0.02589529 -0.02690523
+v 0.00013016 -0.02589529 -0.02547029
+v 0.00147694 -0.02689529 -0.02690523
+v 0.00147694 -0.02689529 -0.02547029
+v 0.00147694 -0.02589529 -0.02690523
+v 0.00147694 -0.02589529 -0.02547029
+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/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_58.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f611d13c342ec07f6ef6bb793810bdbe71b4eded
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_58.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.00109514 -0.04775626 0.00278314
+v 0.00223925 -0.04774033 0.00278314
+v 0.00076713 -0.04775228 0.00278314
+v 0.00013082 -0.04530091 -0.00308924
+v 0.00109514 -0.04529095 -0.00308924
+v 0.00286531 -0.04772639 0.00278314
+v 0.00049274 -0.04774830 0.00278314
+v 0.00013082 -0.04496437 -0.00381994
+v 0.00013082 -0.04774232 0.00278314
+v 0.00109514 -0.04467960 -0.00441029
+v 0.00286531 -0.04463778 -0.00433009
+v 0.00286531 -0.04520731 -0.00308924
+v 0.00393687 -0.04768059 0.00278314
+v 0.00013082 -0.04468557 -0.00442143
+v 0.00013082 -0.04128039 0.00278317
+v 0.00013082 -0.04442869 -0.00489594
+v 0.00109514 -0.04420764 -0.00528135
+v 0.00286531 -0.04416184 -0.00520115
+v 0.00463548 -0.04456210 -0.00418752
+v 0.00463548 -0.04505796 -0.00308924
+v 0.00560375 -0.04756708 0.00278315
+v 0.00463548 -0.04764076 0.00278315
+v 0.00817739 -0.04037831 0.00278317
+v 0.00013082 -0.02741256 -0.01238563
+v 0.00013082 -0.04421362 -0.00529249
+v 0.00109514 -0.04336730 -0.00657122
+v 0.00288108 -0.04317015 -0.00672939
+v 0.00463548 -0.04408418 -0.00505857
+v 0.00463548 -0.04320002 -0.00646429
+v 0.00586316 -0.04449043 -0.00405162
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_59.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3cac3b6fd3cf4941a506f0377c9b9b3054dd23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_59.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00013003 -0.01417946 -0.01589345
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_6.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a4c6718488fb667dffec5d9e4971f698f2f033
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_6.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_60.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8de7bb31ac5328491b5b2288f78caafb3b2a9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_60.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_61.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d800caacb7c1c49b20ab3a11f42e47eade3cd731
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_61.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_62.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1876537d9d4a8f123172ac98e7629636648acb0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_62.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_63.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e16caa2db311f5a0cec1e86e7a04d225501178b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_63.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_7.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa378706914fb5b401397a1582929db8ca561e4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_7.obj
@@ -0,0 +1,850 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_8.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596dbe93d1704c974fbf4e3cea3cdd1bc754a81b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_9.obj b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52059f9102684627ed57fafa3cc266745c2ccdd8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006_collision_9.obj
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