diff --git a/.gitattributes b/.gitattributes
index 30253878afd79b3269e15233d1adcab3442fb142..be66dee6e675f1ea36b9469b1274ba990a67d6a9 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/3b8bf4a0f83d5ad3a25c6375602d06f0.urdf b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/3b8bf4a0f83d5ad3a25c6375602d06f0.urdf
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl.glb b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1c3d4ac170c42df82ad15ccbc4331577f803ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl_gs.ply b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7b298f7b4031befa7fa2db7d0ba8c102e2b3db42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/fruit_bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf46be2a59805d7d5ea3b22f6eca51a45747903ddd00bc5d0c61437ee8c859b4
+size 1854857
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/material.mtl b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5eca001279e28cf505d8ac841829b81d0fbfaa9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/3b8bf4a0f83d5ad3a25c6375602d06f0.xml b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/3b8bf4a0f83d5ad3a25c6375602d06f0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33c26f913e43d759e112fd9327f6d3ec8df67047
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/3b8bf4a0f83d5ad3a25c6375602d06f0.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec349e5d1e315f047a6ccdda85ac81a3bb54bff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9923d7af7a6125e7e931361906e8fb45a362557c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision.obj
@@ -0,0 +1,11792 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe2e46c5163e9282b199c2ca7ef19fd231d5ef4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_0.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa68e2b60044976286cfd82f2be80326a5a70e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_1.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c839a7755c29a69bf4c522d2ef25b4fb84a8387
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_10.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d734cdbb0e1aef271e1e589999096284b6fb43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_11.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.08926339 0.08197931 -0.02581597
+v 0.07810827 0.09039628 -0.02581594
+v 0.08926339 0.08735637 -0.02581595
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef409a21e32820ca9b97ac4091db44dbd0ddd9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..448c8e9e4a5e875ce12f2a39235e5017d40f3f96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_13.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.04851949 0.11584407 -0.02581584
+v -0.00164501 0.12588398 -0.02581581
+v 0.04851949 0.12530013 -0.02581581
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17084f9c80a3ad616e94d8359d23e7453db3cb63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.10099284 -0.00816853 -0.04306730
+v -0.10114870 -0.01376171 -0.04306732
+v -0.09059003 -0.00816853 -0.04306730
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+v -0.08148271 -0.00840647 -0.06175385
+v -0.08144375 -0.01407287 -0.06173667
+v -0.05857315 -0.10168710 -0.04306764
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+v -0.07692417 -0.03106294 -0.06259098
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+v -0.02918620 -0.09629526 -0.06051961
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf89d6a56aaf5110da65a970e6592e7cce1b6480
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_15.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v 0.11496752 -0.09913402 0.02617876
+v 0.11839713 -0.09403346 0.02360179
+v 0.11839713 -0.08980317 0.02455942
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+v 0.11480618 -0.09862105 0.02000491
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea846e40da7e4dd642f6c53a8d32dddcc12cc7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_16.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e720f3953de0f5208aaa41c63f356a8ecbcafca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.11947898 0.06623274 0.01238933
+v -0.12038746 0.06623274 0.01434728
+v -0.11207321 0.06623274 0.01238933
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+v -0.13191503 0.06623260 0.05282614
+v -0.12574747 0.06623268 0.03079797
+v -0.12457991 0.06623257 0.06118266
+v -0.13647087 -0.00444738 0.06032246
+v -0.13677369 -0.00816891 0.05925359
+v -0.13599645 -0.00816889 0.05501217
+v -0.12817345 0.00284291 0.01238910
+v -0.13354356 0.00859635 0.01238912
+v -0.13656172 0.00665908 0.02099827
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+v -0.13292108 0.06623258 0.05743681
+v -0.12488610 0.06623256 0.06125554
+v -0.13957652 -0.00816892 0.06195489
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+v -0.13904826 -0.00816889 0.05326313
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb5c6f28171770469fad8e111f5ce78d25263a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+v -0.12336745 0.07657047 0.06166682
+v -0.12695040 0.07657047 0.06166682
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+v -0.12488306 0.06623937 0.06125590
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+v -0.10056649 0.13187864 0.06142385
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+v -0.12457868 0.06623938 0.06118043
+v -0.10056649 0.12200415 0.05807804
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d06c6f3ee0c7d3fc5cf24352e431f2e88824794
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_19.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.08890343 0.06623289 -0.02676560
+v -0.09832922 0.06623289 -0.02676560
+v -0.11206807 0.06623274 0.01238447
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+v -0.12536120 0.05734039 0.01238444
+v -0.11755225 0.06623276 0.00764017
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d061a6f3ab955342e636a40442511a19dadb736c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_2.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f41aca91b2dd06724ba294be8169a6bd7f26a713
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_20.obj
@@ -0,0 +1,331 @@
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+f 60 89 84
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+f 67 94 95
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+f 70 75 74
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+f 70 72 71
+f 70 98 99
+f 70 99 75
+f 75 99 100
+f 75 100 76
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+f 76 102 96
+f 76 96 77
+f 77 96 78
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+f 80 87 81
+f 80 94 93
+f 80 93 87
+f 81 87 82
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+f 87 106 88
+f 88 104 103
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+f 98 109 99
+f 99 109 110
+f 99 110 111
+f 99 111 100
+f 100 111 101
+f 101 107 102
+f 105 108 106
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e067d2764d859cfc9854ba4e70dd6fc025637ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.12048480 0.07330038 0.02335678
+v 0.11590779 0.07330038 0.02327592
+v 0.12217446 0.07330040 0.02019217
+v 0.11857799 0.09501717 0.02925480
+v 0.11827942 0.09434307 0.02925480
+v 0.11630137 0.09119367 0.02925478
+v 0.11410616 0.08934933 0.02925478
+v 0.11037737 0.08950573 0.02925478
+v 0.11177864 0.07844512 0.02274760
+v 0.11481188 0.07330039 0.02115180
+v 0.08926339 0.11797432 0.02925488
+v 0.11857799 0.09743853 0.02925481
+v 0.12236108 0.07330040 0.01953984
+v 0.09361648 0.07330056 -0.02581061
+v 0.08926339 0.12838782 0.02925492
+v 0.08926339 0.08198297 -0.02581058
+v 0.08969090 0.07969103 -0.02581059
+v 0.09074948 0.07777120 -0.02581059
+v 0.09124145 0.12640866 0.02925491
+v 0.12392181 0.07330047 0.00085947
+v 0.12375894 0.07421185 0.00058991
+v 0.12375894 0.07421185 -0.00014329
+v 0.11836424 0.09709342 0.02505509
+v 0.10170174 0.07330056 -0.02581061
+v 0.08926339 0.12816133 0.02869424
+v 0.08993518 0.12771911 0.02925492
+v 0.11257258 0.09667285 0.00462259
+v 0.11183292 0.09611741 0.00095120
+v 0.08926339 0.08735420 -0.02581056
+v 0.11811656 0.09671054 0.02156162
+v 0.12392181 0.07330047 -0.00039667
+v 0.11833370 0.08579020 -0.00062305
+v 0.11228078 0.07376971 -0.01631677
+v 0.11797067 0.07955075 -0.00531339
+v 0.11707495 0.08333110 -0.00429983
+v 0.11271846 0.09139334 -0.00570690
+v 0.09959136 0.08200993 -0.02581058
+v 0.11238257 0.07330053 -0.01641920
+v 0.08978251 0.12482861 0.02201997
+v 0.08926339 0.12547034 0.02249439
+v 0.11343776 0.09243414 -0.00251533
+v 0.11106273 0.09526536 -0.00251532
+v 0.08926339 0.09922913 -0.01963225
+v 0.09718580 0.08635653 -0.02581056
+v 0.09952350 0.08223643 -0.02581058
+v 0.10125049 0.08575253 -0.02219310
+v 0.10283497 0.08774785 -0.01925490
+v 0.10910165 0.09350193 -0.00785797
+v 0.10733055 0.09680232 -0.00633764
+v 0.10203085 0.09178166 -0.01755128
+v 0.08926339 0.12509285 0.02163719
+v 0.08926339 0.10254569 -0.01713612
+v 0.08996572 0.10232998 -0.01672639
+v 0.08926339 0.10327372 -0.01605789
+v 0.08926339 0.10834292 -0.00814364
+v 0.08926339 0.11456078 0.00256862
+v 0.08926339 0.11976480 0.01159344
+v 0.08926339 0.12302743 0.01735660
+v 0.08926339 0.12366916 0.01856961
+f 1 2 10
+f 1 10 14
+f 1 14 24
+f 1 24 38
+f 1 38 31
+f 1 31 20
+f 1 20 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 8 11
+f 2 11 9
+f 3 12 4
+f 3 13 12
+f 4 12 19
+f 4 19 26
+f 4 26 15
+f 4 15 11
+f 4 11 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 9 11 14
+f 9 14 10
+f 11 15 25
+f 11 25 40
+f 11 40 51
+f 11 51 59
+f 11 59 58
+f 11 58 57
+f 11 57 56
+f 11 56 55
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+f 11 52 43
+f 11 43 29
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+f 12 13 20
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+f 14 18 17
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+f 14 37 24
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+f 15 28 25
+f 19 23 30
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+f 19 27 26
+f 20 31 22
+f 20 22 21
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+f 22 30 23
+f 22 31 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 32
+f 24 37 38
+f 25 39 40
+f 25 28 39
+f 27 30 28
+f 28 41 42
+f 28 42 39
+f 28 30 41
+f 29 43 44
+f 30 32 41
+f 31 38 33
+f 32 36 41
+f 33 38 45
+f 33 45 46
+f 33 46 47
+f 33 47 36
+f 33 36 34
+f 34 36 35
+f 36 48 49
+f 36 49 42
+f 36 42 41
+f 36 47 50
+f 36 50 48
+f 37 45 38
+f 39 51 40
+f 39 42 49
+f 39 49 51
+f 43 52 44
+f 44 46 45
+f 44 52 50
+f 44 50 46
+f 46 50 47
+f 48 50 49
+f 49 50 53
+f 49 53 54
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+f 49 55 56
+f 49 56 57
+f 49 57 58
+f 49 58 59
+f 49 59 51
+f 50 52 53
+f 52 54 53
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488b2bdee596466f63534521dd5171a5ca47b56e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.14447643 -0.10168747 0.05799702
+v -0.14300947 -0.10501490 0.05835905
+v -0.14158362 -0.10710862 0.06034340
+v -0.14360118 -0.10168748 0.06006492
+v -0.14379842 -0.10168746 0.05411883
+v -0.14215889 -0.10811189 0.05498913
+v -0.14215889 -0.10811190 0.05666713
+v -0.13558846 -0.11800429 0.05927808
+v -0.13081779 -0.12486995 0.06108834
+v -0.13677598 -0.11423002 0.06129029
+v -0.14242188 -0.10333434 0.06130426
+v -0.13726085 -0.11608201 0.05771845
+v -0.14274649 -0.10168749 0.06145745
+v -0.14288210 -0.10470576 0.05427896
+v -0.11369930 -0.10168728 0.00567283
+v -0.13627467 -0.11894573 0.05531634
+v -0.11364589 -0.10188681 0.00574245
+v -0.10811094 -0.12475456 0.01653445
+v -0.13627467 -0.11894573 0.05560180
+v -0.13130266 -0.12554441 0.05814314
+v -0.12905499 -0.12837724 0.05814313
+v -0.12729630 -0.13039787 0.05814312
+v -0.12607179 -0.13039788 0.06073322
+v -0.12569376 -0.13039789 0.06129023
+v -0.12751408 -0.12700019 0.06159660
+v -0.13169303 -0.12169709 0.06149218
+v -0.13783202 -0.11037143 0.06165236
+v -0.13944279 -0.10501492 0.06176378
+v -0.13898668 -0.10168749 0.06177773
+v -0.10898207 -0.10168726 -0.00133855
+v -0.13130266 -0.12554160 0.05459916
+v -0.10869853 -0.10299126 -0.00074673
+v -0.10287595 -0.11996851 0.00451000
+v -0.10318002 -0.12523230 0.01012186
+v -0.10855472 -0.13039776 0.02682520
+v -0.11352261 -0.13000714 0.03349540
+v -0.12644160 -0.13039786 0.05390288
+v -0.12185175 -0.13039789 0.06173585
+v -0.12775241 -0.12169709 0.06207008
+v -0.13358322 -0.11608203 0.06177070
+v -0.13461460 -0.10470579 0.06167328
+v -0.13531314 -0.10168749 0.06144352
+v -0.10695217 -0.10168724 -0.00413056
+v -0.10428127 -0.10168723 -0.00727071
+v -0.10250202 -0.10168723 -0.00905314
+v -0.10250202 -0.12019616 0.00434289
+v -0.10250202 -0.12074698 0.00490687
+v -0.10250202 -0.12532785 0.00981550
+v -0.10250202 -0.12589835 0.01088775
+v -0.10250202 -0.12950685 0.01818457
+v -0.10699737 -0.12958556 0.02326729
+v -0.10615501 -0.13039775 0.02408888
+v -0.11321854 -0.13039778 0.03378783
+v -0.11724546 -0.13039789 0.06159659
+v -0.12173258 -0.12700019 0.06181244
+v -0.11797687 -0.12864986 0.06145735
+v -0.11488272 -0.13039788 0.06015532
+v -0.11447592 -0.13039788 0.05969579
+v -0.13451598 -0.10168748 0.06038520
+v -0.10250202 -0.10168727 0.00189908
+v -0.10250202 -0.13039773 0.02025247
+v -0.10339780 -0.13039774 0.02113673
+v -0.10250202 -0.13039779 0.03575826
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 29
+f 1 29 42
+f 1 42 59
+f 1 59 60
+f 1 60 45
+f 1 45 44
+f 1 44 43
+f 1 43 30
+f 1 30 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 29 41 42
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+f 42 58 59
+f 45 60 63
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+f 45 61 50
+f 45 50 49
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+f 45 48 47
+f 45 47 46
+f 50 61 62
+f 50 62 52
+f 50 52 51
+f 54 57 56
+f 58 63 60
+f 58 60 59
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496d7203a8116004817daede51834e2bc297adcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00164992 0.10214393 -0.04631145
+v -0.04852903 0.08266382 -0.04630770
+v -0.04690919 0.08401771 -0.04631152
+v -0.00164992 0.11626687 -0.04631140
+v -0.00164992 0.12494764 -0.02676539
+v -0.04852903 0.11232193 -0.02676544
+v -0.04852903 0.08560521 -0.04631152
+v -0.00336154 0.11598017 -0.04631140
+v -0.00164992 0.11888439 -0.04438645
+v -0.00164992 0.13689905 -0.02676535
+v -0.04852903 0.12327519 -0.02676540
+v -0.04852903 0.09941490 -0.04631146
+v -0.01480599 0.11364404 -0.04631141
+v -0.02045021 0.11718539 -0.04222234
+v -0.00164992 0.11926135 -0.04405734
+v -0.01764646 0.11302815 -0.04631141
+v -0.02045021 0.11435018 -0.04469071
+v -0.00164992 0.13667606 -0.02741592
+v -0.00202621 0.13689905 -0.02676535
+v -0.04761586 0.12417247 -0.02676539
+v -0.04852903 0.12136381 -0.02848751
+v -0.04852903 0.09967506 -0.04614499
+v -0.04098965 0.10838244 -0.04437501
+v -0.04225615 0.10420927 -0.04631145
+v -0.02932952 0.11917639 -0.03847578
+v -0.02609442 0.11957459 -0.03886038
+v -0.02045021 0.12021172 -0.03946503
+v -0.00164992 0.13103221 -0.03346821
+v -0.02074389 0.11226892 -0.04631142
+v -0.02256105 0.11178045 -0.04631142
+v -0.02469025 0.11379269 -0.04421426
+v -0.00164992 0.13640528 -0.02778331
+v -0.04044817 0.12717757 -0.02676538
+v -0.04644113 0.12529275 -0.02676539
+v -0.04604191 0.12488924 -0.02749250
+v -0.04852903 0.11169547 -0.03700053
+v -0.04852903 0.10260583 -0.04425640
+v -0.04852903 0.10895052 -0.03939236
+v -0.04146229 0.11439263 -0.03925840
+v -0.03739203 0.11188132 -0.04269115
+v -0.03739203 0.10905143 -0.04493374
+v -0.03752511 0.10708165 -0.04631144
+v -0.03916789 0.10641797 -0.04631144
+v -0.04852903 0.10488886 -0.04257254
+v -0.04852903 0.10509594 -0.04241373
+v -0.03739203 0.11520498 -0.03993385
+v -0.03739203 0.11804018 -0.03742147
+v -0.02927446 0.12481493 -0.03295734
+v -0.00164992 0.13602832 -0.02821575
+v -0.02608984 0.11072388 -0.04631142
+v -0.03510222 0.10802141 -0.04631143
+v -0.04303625 0.12646612 -0.02676539
+v -0.03739203 0.12365748 -0.03164854
+v -0.03739203 0.12082759 -0.03466608
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 24
+f 1 24 43
+f 1 43 42
+f 1 42 51
+f 1 51 50
+f 1 50 30
+f 1 30 29
+f 1 29 16
+f 1 16 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 28
+f 1 28 49
+f 1 49 32
+f 1 32 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 6 11
+f 2 11 21
+f 2 21 36
+f 2 36 38
+f 2 38 45
+f 2 45 44
+f 2 44 37
+f 2 37 22
+f 2 22 12
+f 2 12 7
+f 2 7 3
+f 2 5 6
+f 4 8 9
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+f 5 19 33
+f 5 33 52
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+f 5 20 11
+f 5 11 6
+f 8 13 9
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+f 14 17 25
+f 16 29 17
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+f 18 32 33
+f 18 33 19
+f 20 34 35
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+f 23 40 41
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+f 23 43 24
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+f 23 44 45
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+f 25 48 26
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+f 26 28 27
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+f 30 50 31
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+f 31 40 46
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+f 34 52 35
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+f 39 47 46
+f 39 46 40
+f 40 51 41
+f 41 51 42
+f 47 54 48
+f 48 53 52
+f 48 54 53
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb7e8e886a6e25130b244fc21275bb1499e10ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_24.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.13414832 0.02430119 0.00800602
+v 0.12701443 0.02430119 0.00800602
+v 0.13000606 0.02430123 -0.00145929
+v 0.12426085 0.05854075 -0.00659738
+v 0.12845073 0.05958642 0.00328508
+v 0.12934345 0.05770607 0.00531454
+v 0.12987909 0.05945689 0.00800615
+v 0.10747358 0.02430131 -0.02581618
+v 0.12017017 0.06015722 0.00800615
+v 0.11431387 0.07330045 0.00551655
+v 0.11338146 0.07330045 0.00454320
+v 0.09361446 0.07330056 -0.02581600
+v 0.12443543 0.02430127 -0.01228200
+v 0.12293962 0.05390707 -0.00956711
+v 0.12043997 0.05390708 -0.01354327
+v 0.11809904 0.05737997 -0.01651628
+v 0.12435608 0.07089727 -0.00108170
+v 0.12516945 0.06523707 -0.00213784
+v 0.12560193 0.06008531 -0.00304168
+v 0.12314990 0.02430127 -0.01441410
+v 0.12901414 0.06148595 0.00615879
+v 0.12983149 0.05976868 0.00800615
+v 0.11559146 0.02430131 -0.02581618
+v 0.12056694 0.06541451 0.00800617
+v 0.11603584 0.07330045 0.00607606
+v 0.10170060 0.07330056 -0.02581600
+v 0.11970198 0.02430129 -0.01989001
+v 0.11819823 0.02430130 -0.02224061
+v 0.11088579 0.05112498 -0.02581608
+v 0.11034221 0.05336509 -0.02581607
+v 0.11020731 0.05390712 -0.02581607
+v 0.10859643 0.05912603 -0.02581605
+v 0.10805286 0.06074255 -0.02581605
+v 0.11400835 0.06523713 -0.01802262
+v 0.11290534 0.07089733 -0.01696979
+v 0.11621042 0.02430131 -0.02499843
+v 0.11459161 0.03094007 -0.02581616
+v 0.11370681 0.03672980 -0.02581614
+v 0.11158014 0.04824690 -0.02581609
+v 0.11238558 0.07330053 -0.01642021
+v 0.12392360 0.07330047 -0.00040300
+v 0.12392360 0.07330047 0.00085176
+v 0.12704617 0.06377880 0.00800616
+v 0.12679223 0.06409060 0.00800617
+v 0.11848787 0.07330045 0.00604957
+v 0.10610076 0.06523715 -0.02581603
+v 0.12119781 0.07330046 0.00373539
+v 0.11947583 0.07330045 0.00542054
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+f 1 23 36
+f 1 36 28
+f 1 28 27
+f 1 27 20
+f 1 20 13
+f 1 13 3
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+f 44 48 45
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800296dc65a2a486b7e0ad059818556c5f6b1242
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_25.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.10198153 -0.05316943 -0.02674353
+v -0.12254557 -0.05316954 0.00308260
+v -0.11069249 -0.05316943 -0.02674353
+v -0.10722892 -0.00817300 -0.02674336
+v -0.12521811 -0.01865245 0.00308273
+v -0.12510780 -0.01973607 0.00308273
+v -0.12858715 -0.05316954 0.00308260
+v -0.11194367 -0.05316944 -0.02521077
+v -0.11249204 -0.04805530 -0.02592603
+v -0.11182076 -0.04805530 -0.02674351
+v -0.11555853 -0.00817300 -0.02674336
+v -0.11242271 -0.00817303 -0.02018605
+v -0.12474223 -0.01670987 0.00093979
+v -0.12750931 -0.01589937 0.00308274
+v -0.12845793 -0.05316954 0.00254540
+v -0.13139521 -0.04246995 0.00308264
+v -0.11216113 -0.05316944 -0.02494216
+v -0.11472966 -0.04805531 -0.02316998
+v -0.11998965 -0.02367840 -0.02262977
+v -0.11580120 -0.02544476 -0.02674342
+v -0.11709335 -0.00817301 -0.02455661
+v -0.11633067 -0.01973596 -0.02674340
+v -0.11757239 -0.01973597 -0.02532158
+v -0.11993922 -0.01973598 -0.02256552
+v -0.12506683 -0.02172263 -0.01650454
+v -0.11697359 -0.00817303 -0.01919048
+v -0.11805142 -0.00941083 -0.01533959
+v -0.13214528 -0.01580686 0.00308274
+v -0.12654177 -0.05316952 -0.00287328
+v -0.13142987 -0.04203827 0.00289872
+v -0.13417805 -0.01973607 0.00308273
+v -0.11414032 -0.05316945 -0.02245179
+v -0.11969970 -0.04672064 -0.01689001
+v -0.12506683 -0.02278421 -0.01650454
+v -0.12012516 -0.00941082 -0.01799346
+v -0.11710280 -0.00817303 -0.01982986
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+v -0.12640941 -0.01979327 -0.01390321
+v -0.12012516 -0.00941083 -0.01533959
+v -0.13212322 -0.01580246 0.00299807
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+v -0.12628965 -0.05316952 -0.00345719
+v -0.13065458 -0.03991508 0.00007843
+v -0.13096028 -0.02316308 -0.00612555
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+v -0.12573812 -0.04805538 -0.00669495
+v -0.13095398 -0.01973604 -0.00609342
+v -0.12585788 -0.05316951 -0.00439729
+v -0.12445228 -0.05316950 -0.00693146
+v -0.12515509 -0.05316951 -0.00573152
+f 1 2 7
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+f 1 54 49
+f 1 49 32
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+f 35 42 36
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+f 46 50 53
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+f 47 51 50
+f 49 54 50
+f 50 54 55
+f 50 55 53
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d36bbd3b753b6c4f675f8740c58665fc1b56894
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_26.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.07378584 -0.07265675 -0.04306754
+v -0.09515983 -0.07265681 -0.02674360
+v -0.07959580 -0.07265675 -0.04306754
+v -0.09059516 -0.00816853 -0.04306730
+v -0.10722540 -0.00816859 -0.02674336
+v -0.10439746 -0.07265681 -0.02674360
+v -0.08657192 -0.07265675 -0.04306435
+v -0.08686762 -0.07216437 -0.04306754
+v -0.10099479 -0.00816853 -0.04306730
+v -0.11555509 -0.00816859 -0.02674336
+v -0.10523043 -0.07071257 -0.02674359
+v -0.10315218 -0.07265681 -0.02824401
+v -0.09185711 -0.07265677 -0.03903130
+v -0.08822119 -0.07116069 -0.04247312
+v -0.08768394 -0.07070619 -0.04306753
+v -0.10112389 -0.00816853 -0.04294746
+v -0.10114889 -0.01376138 -0.04306732
+v -0.10130715 -0.01407070 -0.04292990
+v -0.11632976 -0.01973936 -0.02674340
+v -0.11444724 -0.00816859 -0.02833165
+v -0.10726705 -0.06504396 -0.02674357
+v -0.10355617 -0.07071256 -0.02868341
+v -0.10101977 -0.07071255 -0.03144136
+v -0.10052833 -0.07265680 -0.03098917
+v -0.09472252 -0.07265678 -0.03655298
+v -0.09518899 -0.07071253 -0.03706749
+v -0.09236939 -0.07071253 -0.03944993
+v -0.08969139 -0.06687452 -0.04306752
+v -0.10124051 -0.00816853 -0.04283721
+v -0.10124468 -0.00840841 -0.04284040
+v -0.10115722 -0.01407070 -0.04306732
+v -0.10413091 -0.01973931 -0.04016399
+v -0.10412258 -0.01407071 -0.04017196
+v -0.10115305 -0.01973930 -0.04306734
+v -0.10131132 -0.01973930 -0.04292194
+v -0.11579665 -0.02544583 -0.02674342
+v -0.11221905 -0.00816858 -0.03097455
+v -0.10929532 -0.00816856 -0.03436045
+v -0.11474294 -0.01973936 -0.02855539
+v -0.11460967 -0.02540164 -0.02837805
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+v -0.10254411 -0.06277777 -0.03307116
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+v -0.10674644 -0.00816855 -0.03723823
+v -0.10071990 -0.02540158 -0.04306736
+v -0.11181506 -0.04805710 -0.02674351
+v -0.10696717 -0.00816855 -0.03700175
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+v -0.10929116 -0.02540161 -0.03427103
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+v -0.10966600 -0.04805709 -0.02934965
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+v -0.10847486 -0.05816337 -0.02790040
+v -0.10307304 -0.05938166 -0.03365758
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+v -0.09817934 -0.04238844 -0.04306743
+v -0.09984945 -0.04238845 -0.04146316
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+v -0.09510569 -0.05371933 -0.04306747
+v -0.09573458 -0.05183190 -0.04306746
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a73a14453a58106535f44708e806d70514a69287
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.07560422 -0.09913268 -0.01180176
+v 0.08005688 -0.09913268 -0.01189392
+v 0.08005688 -0.09445254 -0.01482735
+v 0.08005688 -0.09399344 -0.01524051
+v 0.07680819 -0.09549363 -0.01509749
+v 0.01135686 -0.09913256 -0.04426974
+v 0.08005688 -0.09913266 -0.01697579
+v 0.08005688 -0.08682379 -0.02472407
+v 0.07629701 -0.08682378 -0.02597309
+v 0.06990725 -0.08682378 -0.02843615
+v 0.06961130 -0.08682378 -0.02855375
+v 0.06471473 -0.08682377 -0.03064497
+v 0.03964669 -0.08682372 -0.04426970
+v 0.03631729 -0.09913256 -0.04426974
+v 0.07959950 -0.09913265 -0.01886679
+v 0.08005688 -0.09806143 -0.01901616
+v 0.08005688 -0.08682377 -0.02952626
+v 0.05925989 -0.08682372 -0.04426970
+v 0.04126767 -0.09912895 -0.04426974
+v 0.04167796 -0.09913256 -0.04407587
+v 0.07921612 -0.09913265 -0.01929266
+v 0.07877220 -0.09683836 -0.02234050
+v 0.08005688 -0.09492606 -0.02229600
+v 0.07975421 -0.08682377 -0.03006337
+v 0.06336951 -0.08682373 -0.04194011
+v 0.05560091 -0.09039528 -0.04374531
+v 0.05520407 -0.08997474 -0.04426971
+v 0.04542438 -0.09680816 -0.04426974
+v 0.04752291 -0.09913257 -0.04124096
+v 0.07559077 -0.09913263 -0.02327170
+v 0.07930356 -0.08682377 -0.03055916
+v 0.07326355 -0.09666844 -0.02779739
+v 0.07769603 -0.08682376 -0.03231350
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+v 0.05815009 -0.09913259 -0.03523108
+v 0.05999303 -0.09512844 -0.03746849
+v 0.06936917 -0.08682374 -0.03841237
+v 0.06246150 -0.09135325 -0.03899717
+v 0.05296429 -0.09762876 -0.03954065
+v 0.05342167 -0.09355352 -0.04253763
+v 0.05221770 -0.09221238 -0.04426972
+v 0.04845783 -0.09481995 -0.04426973
+v 0.07105741 -0.08682374 -0.03731273
+v 0.07456841 -0.08682375 -0.03491640
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 20
+f 1 20 29
+f 1 29 40
+f 1 40 47
+f 1 47 46
+f 1 46 45
+f 1 45 41
+f 1 41 30
+f 1 30 21
+f 1 21 15
+f 1 15 7
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+f 22 33 31
+f 25 34 26
+f 26 35 36
+f 26 36 27
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+f 29 39 40
+f 30 41 32
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+f 32 47 48
+f 32 48 49
+f 32 49 42
+f 34 49 50
+f 34 50 37
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+f 35 52 36
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+f 39 53 52
+f 39 51 40
+f 39 54 53
+f 42 55 56
+f 42 56 43
+f 42 49 55
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8e4df420c932699acbc5d3d1f40a471556650d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_28.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.08005965 -0.08681915 -0.02472246
+v 0.08005965 -0.08681913 -0.02952945
+v 0.08005965 -0.08246395 -0.02461857
+v 0.07629685 -0.08681914 -0.02597086
+v 0.07975894 -0.08681913 -0.03006612
+v 0.08005965 -0.08665644 -0.03006227
+v 0.08005965 -0.08196661 -0.02480708
+v 0.06471963 -0.08681913 -0.03064704
+v 0.06961404 -0.08681914 -0.02855612
+v 0.06991078 -0.08681914 -0.02843879
+v 0.07769752 -0.08681912 -0.03231476
+v 0.08005965 -0.08634968 -0.03068166
+v 0.08005965 -0.03933954 -0.04426759
+v 0.03964224 -0.08681908 -0.04426777
+v 0.07670835 -0.08681912 -0.03325538
+v 0.07892409 -0.08522019 -0.03322845
+v 0.08005965 -0.08574542 -0.03146454
+v 0.08005965 -0.06409490 -0.04426769
+v 0.05926338 -0.08681908 -0.04426777
+v 0.07601989 -0.08681912 -0.03390940
+v 0.07251032 -0.08465311 -0.03816046
+v 0.08005965 -0.08469032 -0.03281873
+v 0.08005965 -0.06439702 -0.04412535
+v 0.07993699 -0.06428547 -0.04426769
+v 0.06337040 -0.08681909 -0.04194027
+v 0.06110323 -0.08542932 -0.04426776
+v 0.06181939 -0.08515043 -0.04407156
+v 0.07456779 -0.08681911 -0.03491734
+v 0.06558614 -0.08353292 -0.04307323
+v 0.07005322 -0.08220360 -0.04121699
+v 0.07424334 -0.08087427 -0.03935883
+v 0.08005965 -0.08188756 -0.03473458
+v 0.07105822 -0.08681910 -0.03731218
+v 0.06937267 -0.08681910 -0.03841245
+v 0.06874356 -0.08612654 -0.03939732
+v 0.08005965 -0.06944943 -0.04163051
+v 0.07827123 -0.06772965 -0.04375989
+v 0.07780830 -0.06727414 -0.04426770
+v 0.06640517 -0.08681909 -0.04020906
+v 0.06165321 -0.08498776 -0.04426776
+v 0.06457323 -0.08247782 -0.04426775
+v 0.06759613 -0.07975873 -0.04418118
+v 0.07136288 -0.07771360 -0.04303666
+v 0.07801009 -0.07876407 -0.03810658
+v 0.07553322 -0.07635174 -0.04109578
+v 0.08005965 -0.08084175 -0.03539244
+v 0.08005965 -0.07463198 -0.03896831
+v 0.07952154 -0.07498523 -0.03915683
+v 0.07713171 -0.07071368 -0.04300586
+v 0.07306029 -0.07393476 -0.04407921
+v 0.07642347 -0.06911941 -0.04426770
+v 0.06722025 -0.07996789 -0.04426774
+v 0.06751700 -0.07967971 -0.04426774
+v 0.08005965 -0.07549187 -0.03850090
+v 0.08005965 -0.07747192 -0.03739870
+v 0.07228875 -0.07441351 -0.04426772
+v 0.07287829 -0.07375348 -0.04426772
+v 0.07336496 -0.07314459 -0.04426772
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 22
+f 1 22 32
+f 1 32 46
+f 1 46 55
+f 1 55 54
+f 1 54 47
+f 1 47 36
+f 1 36 23
+f 1 23 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 8
+f 1 8 14
+f 1 14 19
+f 1 19 25
+f 1 25 39
+f 1 39 34
+f 1 34 33
+f 1 33 28
+f 1 28 20
+f 1 20 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
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+f 3 10 4
+f 5 11 12
+f 5 12 6
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+f 8 13 14
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+f 12 16 17
+f 12 15 16
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+f 13 41 40
+f 13 40 26
+f 13 26 19
+f 13 19 14
+f 15 20 16
+f 16 21 22
+f 16 22 17
+f 16 20 21
+f 18 23 24
+f 19 26 27
+f 19 27 25
+f 20 28 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 21 28 33
+f 21 33 34
+f 21 34 35
+f 21 35 29
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 25 27 35
+f 25 35 39
+f 26 40 27
+f 27 40 29
+f 27 29 35
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 44 32
+f 31 43 45
+f 31 45 44
+f 32 44 46
+f 34 39 35
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 41 52 42
+f 42 52 53
+f 42 53 50
+f 42 50 43
+f 43 50 45
+f 44 45 48
+f 44 48 54
+f 44 54 55
+f 44 55 46
+f 45 50 48
+f 47 54 48
+f 48 50 49
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 50 53 56
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c1a03ff3d93130106210b54575ce2d7d54ee4b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.10250202 -0.10168723 -0.00905545
+v -0.10172444 -0.10168722 -0.01011534
+v -0.09739167 -0.11603682 -0.00663290
+v -0.10250202 -0.12019616 0.00433695
+v -0.10250202 -0.10168727 0.00189170
+v -0.09456377 -0.10168719 -0.01938181
+v -0.09127164 -0.11342597 -0.01655044
+v -0.09678044 -0.11894551 -0.00538376
+v -0.10250202 -0.12074698 0.00490475
+v -0.10250202 -0.13039779 0.03575509
+v -0.06298485 -0.10168714 -0.03292570
+v -0.09186352 -0.10168718 -0.02265233
+v -0.09067975 -0.10673454 -0.02134263
+v -0.08456745 -0.10670923 -0.02686163
+v -0.08080723 -0.10817341 -0.02799724
+v -0.08454811 -0.11282454 -0.02138050
+v -0.06826541 -0.13007443 -0.01063783
+v -0.09028129 -0.11861950 -0.01040310
+v -0.10250202 -0.12532785 0.00981051
+v -0.06799075 -0.13039762 -0.01036528
+v -0.06298485 -0.13039765 -0.00209814
+v -0.10250202 -0.13039773 0.02025041
+v -0.06298485 -0.10168711 -0.04157138
+v -0.09065654 -0.10168717 -0.02392420
+v -0.08919036 -0.10168717 -0.02542319
+v -0.08636246 -0.10168716 -0.02824704
+v -0.08602589 -0.10293213 -0.02792908
+v -0.08014957 -0.10232508 -0.03319068
+v -0.07345313 -0.11287229 -0.02699035
+v -0.07309722 -0.10168712 -0.03777091
+v -0.07692708 -0.10918231 -0.02892086
+v -0.06939503 -0.11934171 -0.02233443
+v -0.06885343 -0.12477130 -0.01657319
+v -0.06489591 -0.13039762 -0.01217467
+v -0.08297361 -0.13039767 0.00245182
+v -0.08609166 -0.13039768 0.00513183
+v -0.10250202 -0.12589835 0.01087797
+v -0.06298485 -0.13039761 -0.01312100
+v -0.10250202 -0.12950685 0.01817605
+v -0.10135306 -0.12988342 0.01760825
+v -0.10077665 -0.13039773 0.01819119
+v -0.06298485 -0.10207493 -0.04126855
+v -0.06342974 -0.10168711 -0.04142753
+v -0.08035074 -0.10168714 -0.03335723
+v -0.06968904 -0.11381376 -0.02790641
+v -0.06978962 -0.10168712 -0.03918662
+v -0.06951108 -0.10236722 -0.03878539
+v -0.06563481 -0.12018481 -0.02322777
+v -0.06298485 -0.12263824 -0.02188020
+v -0.06298485 -0.12361342 -0.02082789
+v -0.06298485 -0.12477410 -0.01956360
+v -0.06298485 -0.12621862 -0.01798133
+v -0.06563481 -0.12553853 -0.01740596
+v -0.06563481 -0.11756275 -0.02598348
+v -0.06298485 -0.12775870 -0.01624767
+v -0.06298485 -0.12911890 -0.01467297
+v -0.09004918 -0.13039769 0.00863704
+v -0.06298485 -0.10312880 -0.04042065
+v -0.06563481 -0.10168711 -0.04070075
+v -0.06563481 -0.11473273 -0.02879218
+v -0.06563481 -0.10321313 -0.03946675
+v -0.06298485 -0.10554009 -0.03845229
+v -0.06298485 -0.10660521 -0.03750596
+v -0.06563481 -0.10604595 -0.03695330
+v -0.06563481 -0.11180154 -0.03154788
+v -0.06298485 -0.12081151 -0.02380314
+v -0.06298485 -0.11937262 -0.02531727
+v -0.06298485 -0.11721989 -0.02748246
+v -0.06298485 -0.11813325 -0.02657399
+v -0.06298485 -0.10397472 -0.03973929
+v -0.06298485 -0.11136875 -0.03303173
+v -0.06298485 -0.11238328 -0.03207783
+v -0.06298485 -0.11526669 -0.02934483
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 37
+f 1 37 39
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+f 1 22 10
+f 1 10 5
+f 1 5 11
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+f 1 23 43
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+f 1 12 6
+f 1 6 2
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+f 6 12 13
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+f 8 19 9
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+f 10 21 11
+f 10 22 41
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+f 45 47 60
+f 45 60 54
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+f 47 59 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 60
+f 48 66 49
+f 48 54 67
+f 48 67 66
+f 52 55 53
+f 54 60 68
+f 54 68 69
+f 54 69 67
+f 58 70 59
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+f 60 65 71
+f 60 71 72
+f 60 72 73
+f 60 73 68
+f 61 70 62
+f 63 71 65
+f 63 65 64
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d7a91eb6c36e01c6b8b0c4358f261f5f49c5a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_3.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00164418 -0.13377072 -0.02717647
+v 0.02464949 -0.13377076 -0.01601345
+v 0.00036648 -0.13711087 -0.02357280
+v -0.00164418 -0.13610810 -0.02508970
+v -0.00164418 -0.13377078 -0.01072527
+v 0.03018741 -0.13377077 -0.01348250
+v -0.00007012 -0.14217643 -0.01724544
+v -0.00164418 -0.14122155 -0.01842711
+v -0.00164418 -0.13461873 -0.00873068
+v 0.05703831 -0.14896757 0.05328600
+v 0.05703831 -0.14869106 0.05262392
+v 0.05703831 -0.13377088 0.01683865
+v 0.03593215 -0.13377078 -0.01045709
+v 0.03933304 -0.13609342 -0.00562985
+v 0.00009648 -0.14799405 -0.00687023
+v -0.00164418 -0.14735626 -0.00831169
+v -0.00164418 -0.14211743 -0.01716163
+v 0.04026943 -0.14208065 0.00484593
+v -0.00164418 -0.16290328 0.05685610
+v 0.05703831 -0.15068927 0.05655445
+v 0.05703831 -0.13377083 0.00371457
+v 0.04123454 -0.13377079 -0.00755739
+v 0.04850164 -0.13377081 -0.00247034
+v 0.05327551 -0.13377082 0.00089868
+v 0.05199444 -0.13680499 0.00437663
+v 0.05040315 -0.14163826 0.01107274
+v -0.00164418 -0.14805304 -0.00697917
+v 0.03372043 -0.14735633 0.01095540
+v -0.00000693 -0.15344672 0.00434305
+v 0.04731822 -0.14225394 0.00998326
+v 0.04034985 -0.14769552 0.01579102
+v -0.00164418 -0.16563881 0.05794557
+v 0.05703831 -0.15194643 0.05709080
+v 0.05703831 -0.13550728 0.00626228
+v 0.05703831 -0.13632204 0.00749423
+v 0.05703831 -0.13747229 0.00927093
+v 0.05308019 -0.13881056 0.00843285
+v 0.05417169 -0.14081614 0.01256450
+v 0.05255742 -0.14241248 0.01425739
+v 0.05035719 -0.14728263 0.02211003
+v -0.00164418 -0.15290846 0.00306919
+v 0.03327808 -0.15287534 0.02225248
+v -0.00048374 -0.15864868 0.01641953
+v 0.01711813 -0.16456222 0.03814213
+v 0.04731822 -0.14782089 0.02097864
+v 0.04525586 -0.16443325 0.05468552
+v 0.04167114 -0.16501206 0.05358764
+v -0.00164418 -0.16701395 0.05844003
+v 0.05296529 -0.15568473 0.05784504
+v 0.05703831 -0.15600916 0.05740087
+v 0.05703831 -0.14005668 0.01371266
+v 0.05635469 -0.14181524 0.01623522
+v 0.05252870 -0.14530287 0.01997297
+v 0.05703831 -0.15933455 0.05372175
+v 0.04720907 -0.16280004 0.05275797
+v -0.00131099 -0.15864868 0.01641953
+v -0.00164418 -0.15844223 0.01607593
+v 0.01908858 -0.16931811 0.05112372
+v 0.01344150 -0.17066376 0.05305126
+v 0.00114776 -0.17016972 0.04897827
+v -0.00164418 -0.17142321 0.05246462
+v 0.03037699 -0.16744158 0.05262385
+v 0.02482183 -0.16888308 0.05281661
+v 0.02300074 -0.17005177 0.05478606
+v 0.04525586 -0.16443325 0.05573310
+v 0.00214160 -0.16701395 0.05841489
+v -0.00164418 -0.16986007 0.05746786
+v 0.03602407 -0.16135118 0.05797912
+v 0.04167114 -0.16135118 0.05782826
+v 0.05703831 -0.15748384 0.05710754
+v 0.05703831 -0.14110741 0.01558153
+v 0.05703831 -0.14163460 0.01658720
+v 0.05703831 -0.14205120 0.01744203
+v 0.05703831 -0.15933456 0.05586719
+v -0.00164418 -0.15875560 0.01692237
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+v -0.00164418 -0.17143060 0.05402341
+v 0.00267586 -0.17104348 0.05208749
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e30cde3089b4dfb2edbbb2d10854fe961a809e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_30.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.13899055 -0.10168749 0.06177761
+v -0.13857130 -0.09860526 0.06179010
+v -0.14469729 -0.08771062 0.06213346
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+v -0.14274520 -0.10168749 0.06145301
+v -0.13531603 -0.10168749 0.06144052
+v -0.14595773 -0.05317451 0.06199001
+v -0.14989130 -0.05317451 0.06230837
+v -0.15034527 -0.05939120 0.06238325
+v -0.15034527 -0.06505223 0.06230209
+v -0.14989396 -0.07638380 0.06200241
+v -0.14911687 -0.08204483 0.06187131
+v -0.14832642 -0.08771062 0.06151548
+v -0.14778699 -0.09133424 0.06114093
+v -0.14359974 -0.10168748 0.06006099
+v -0.13451757 -0.10168748 0.06038559
+v -0.14371190 -0.05317449 0.05814480
+v -0.15038800 -0.05317451 0.06229588
+v -0.15034527 -0.05372541 0.06233334
+v -0.15361121 -0.05939120 0.06134080
+v -0.15350707 -0.06505222 0.06124090
+v -0.15088737 -0.07115969 0.06188383
+v -0.15332014 -0.06956870 0.06105986
+v -0.15313054 -0.07334431 0.06075398
+v -0.14695114 -0.09510985 0.05916837
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+v -0.14815016 -0.09328139 0.05765152
+v -0.14447832 -0.10168747 0.05800105
+v -0.13355888 -0.10168747 0.05841304
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+v -0.12706971 -0.05372522 0.01166514
+v -0.12706971 -0.05330254 0.01124067
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+v -0.15325338 -0.05317451 0.06131585
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+v -0.15435093 -0.05939118 0.05814478
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+v -0.14380002 -0.10168746 0.05411838
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+v -0.12706971 -0.05317427 -0.00138737
+v -0.15348570 -0.05317450 0.06122846
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+v -0.15377678 -0.05372538 0.05452430
+v -0.15390763 -0.05939117 0.05438695
+v -0.15386491 -0.06505220 0.05455547
+v -0.15363792 -0.07071798 0.05480515
+v -0.15337889 -0.07473580 0.05512348
+v -0.14810744 -0.09337162 0.05473016
+v -0.12706971 -0.07037586 0.00499838
+v -0.12706971 -0.07657832 0.00879988
+v -0.12706971 -0.08177870 0.01227054
+v -0.12706971 -0.08473269 0.01430550
+v -0.13045849 -0.09601682 0.02794473
+v -0.12974549 -0.09903732 0.02919941
+v -0.13072021 -0.10168738 0.03306958
+v -0.12706971 -0.10168736 0.02742661
+v -0.12706971 -0.05541590 -0.00113768
+v -0.13068282 -0.05689766 0.00557896
+v -0.13659784 -0.05317434 0.01627191
+v -0.15405985 -0.05317449 0.05813231
+v -0.15405451 -0.05317449 0.05783893
+v -0.15374474 -0.05317448 0.05457424
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+v -0.14206156 -0.05593365 0.02745174
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+v -0.13657381 -0.05372524 0.01627815
+v -0.13826954 -0.05372525 0.01954284
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7da7239f7487303a9d2c79dc0d8d00fd2fb71c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_31.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.10439780 -0.07265681 -0.02674360
+v -0.10314904 -0.07265681 -0.02824401
+v -0.10277363 -0.07446410 -0.02783335
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+v -0.09515849 -0.07265681 -0.02674360
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+v -0.07522427 -0.10168432 -0.02674370
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+v -0.09797012 -0.08204563 -0.02861634
+v -0.09701248 -0.08539879 -0.02766562
+v -0.09975516 -0.08204564 -0.02674363
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+v -0.07821210 -0.08560617 -0.04306758
+v -0.07582950 -0.08901616 -0.04306760
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb43c74bf2987d216016814c826c4f33695b2fed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_32.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.07101795 0.09447579 -0.02676550
+v -0.07101795 0.10672782 -0.02676546
+v -0.04080888 0.11637888 -0.02676542
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+v -0.04080888 0.13516714 -0.01559418
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+v -0.05204561 0.13101276 -0.01692189
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+v -0.04972434 0.13516713 -0.01342306
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+v -0.07101795 0.11868107 -0.01333606
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d58f06be55f25c1ea74c3f908896e10a59f46c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_33.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.07101795 0.13516697 0.02881850
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+v -0.07101795 0.14583159 0.05285104
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928ec7435d8d01f981c07195c4f24386c4e64cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_34.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.03538463 0.13018000 -0.02581579
+v 0.03538463 0.12967625 -0.02649753
+v 0.03538463 0.12153276 -0.02581582
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f606b7d17d6ad99e89e6ecfe52f5826fbcd3126
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_35.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03538463 0.09430418 -0.04692115
+v 0.03154559 0.09485111 -0.04692115
+v 0.03538463 0.10919857 -0.04692110
+v 0.03538463 0.12153205 -0.02581582
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c55c7fdba5ec26c43c84424854dc8783e5253e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_36.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b1146ac3c49eb43d919bb75860e26dc086b094
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_37.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0524eee346641a85eaf9d90669352aa79933e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_38.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.11953576 0.09464238 0.04715888
+v 0.11827923 0.09434147 0.02926018
+v 0.11924830 0.09475185 0.04160145
+v 0.11953576 0.09467887 0.04715888
+v 0.11636479 0.09183327 0.04715887
+v 0.11630256 0.09119489 0.02926016
+v 0.11857854 0.09501639 0.02926018
+v 0.11894305 0.09485220 0.03608783
+v 0.11924830 0.09861440 0.04160146
+v 0.11928683 0.09965868 0.04715890
+v 0.11351684 0.09001827 0.04715886
+v 0.11410658 0.08935254 0.02926016
+v 0.11857854 0.09743788 0.02926019
+v 0.10531086 0.11744370 0.04715896
+v 0.11104230 0.09001827 0.04715886
+v 0.11037848 0.08950759 0.02926016
+v 0.09124302 0.12640924 0.02926029
+v 0.09027691 0.13099683 0.03748257
+v 0.09230988 0.13301244 0.04715902
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+v 0.09666627 0.12798246 0.04715900
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+v 0.09187128 0.13345934 0.04715902
+v 0.08926635 0.12591210 0.04715899
+v 0.08926635 0.13593557 0.04715903
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+f 1 10 14
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e163cb15b6369358b5d0c27ea768699dab80263
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_39.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.10051586 0.00292035 -0.04439952
+v 0.10051586 0.00775418 -0.04438713
+v 0.10104796 0.00738769 -0.04393769
+v 0.10104095 0.00292035 -0.04393359
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eba42d88d075b0aa777a98e5c070e0fc71b1f48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_4.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.06298099 -0.13172585 0.00043322
+v -0.00351099 -0.13961985 0.00043319
+v -0.06298099 -0.13953401 0.00043319
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c0062666efab3268a65fe6510443bec74cb77f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_40.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.13460067 0.07330026 0.05814565
+v 0.12936842 0.08539913 0.06000429
+v 0.12936842 0.08539913 0.06109210
+v 0.13009179 0.08223149 0.06168106
+v 0.13136102 0.07656875 0.06223116
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+v 0.13458292 0.07330026 0.05808815
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+v 0.12638617 0.08223149 0.06295845
+v 0.12638617 0.07656875 0.06303458
+v 0.12632404 0.07330024 0.06247357
+v 0.13179594 0.07330027 0.05449995
+v 0.11928558 0.09966363 0.04715890
+v 0.11871753 0.10326166 0.05263213
+v 0.11927227 0.10431080 0.05814576
+v 0.12209918 0.09945510 0.05814575
+v 0.11744387 0.10714889 0.05814577
+v 0.11254445 0.11376661 0.06114504
+v 0.11879741 0.10358444 0.06158634
+v 0.12070126 0.09882963 0.06194685
+v 0.12074120 0.09356368 0.06289011
+v 0.11509179 0.09922642 0.06295385
+v 0.11509179 0.09356368 0.06250317
+v 0.12244534 0.07656875 0.06170590
+v 0.12317315 0.07330025 0.06123813
+v 0.08926339 0.13080863 0.06098504
+v 0.13004298 0.07330027 0.05426684
+v 0.11351635 0.09001949 0.04715886
+v 0.11632996 0.09181516 0.04715887
+v 0.11636102 0.09183533 0.04715887
+v 0.11953410 0.09463980 0.04715888
+v 0.11953854 0.09468016 0.04715888
+v 0.10531517 0.11744542 0.04715896
+v 0.10753410 0.12034402 0.05420951
+v 0.11257552 0.11383389 0.05502846
+v 0.11270421 0.11400873 0.05814580
+v 0.11365836 0.11055189 0.06166563
+v 0.11059180 0.11684010 0.05814581
+v 0.10776487 0.12061302 0.05814582
+v 0.10551931 0.12344439 0.05814583
+v 0.10269239 0.12692139 0.05814585
+v 0.10034031 0.12975276 0.05814586
+v 0.10723676 0.11983958 0.06132533
+v 0.11547345 0.10524560 0.06216911
+v 0.10944682 0.11055189 0.06236182
+v 0.08926339 0.13772898 0.06129898
+v 0.08926339 0.13357946 0.06126788
+v 0.11225155 0.09071888 0.06091341
+v 0.12310215 0.07330025 0.06101280
+v 0.08926339 0.13049253 0.06068045
+v 0.12637729 0.07330027 0.05434143
+v 0.11104445 0.09001949 0.04715886
+v 0.10251487 0.12091570 0.04715897
+v 0.10239505 0.12652460 0.05376664
+v 0.09541871 0.13613511 0.05528029
+v 0.10925155 0.11587837 0.06170449
+v 0.09541871 0.13613511 0.05570919
+v 0.09713173 0.13332391 0.05778690
+v 0.09450895 0.13528771 0.05938598
+v 0.10184919 0.12584532 0.06137508
+v 0.10376191 0.12178993 0.06172006
+v 0.09074120 0.13702283 0.06127255
+v 0.08926339 0.14039896 0.05894777
+v 0.11165688 0.09031537 0.05814571
+v 0.08926339 0.12912730 0.05814585
+v 0.12273825 0.07330026 0.05814565
+v 0.11104889 0.08997239 0.05263208
+v 0.12476191 0.07330027 0.05464136
+v 0.11101339 0.09002622 0.04715886
+v 0.09698972 0.12760069 0.04715900
+v 0.09666575 0.12797731 0.04715900
+v 0.09280481 0.13244966 0.04715902
+v 0.09245865 0.13284646 0.04715902
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+v 0.08926339 0.14197943 0.05509849
+v 0.08926339 0.14200634 0.05570921
+v 0.08926339 0.14200633 0.05592056
+f 1 2 3
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+f 80 89 90
+f 81 92 82
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243f0418bc025bbbe5b8973c1f8b9c37327a356d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_41.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.15284184 -0.07637919 0.05364490
+v 0.15268515 -0.07623968 0.05853328
+v 0.15257356 -0.08204339 0.05720668
+v 0.15257356 -0.08204338 0.05406490
+v 0.14451535 -0.07072013 0.04031054
+v 0.14666879 -0.07072014 0.04356045
+v 0.15108253 -0.07072017 0.05092939
+v 0.15271364 -0.07072018 0.05368443
+v 0.15283947 -0.07072019 0.05814447
+v 0.15188739 -0.07426031 0.06097436
+v 0.15192776 -0.07072020 0.06101803
+v 0.15217231 -0.08594010 0.05624604
+v 0.15217231 -0.08594009 0.05464291
+v 0.15041536 -0.08777990 0.05273414
+v 0.14748079 -0.08770754 0.04865253
+v 0.14270142 -0.04633727 0.04031063
+v 0.14659519 -0.06736608 0.04365818
+v 0.14124838 -0.08641033 0.04031048
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+v 0.13850849 -0.04633731 0.05263033
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e121983c610fff8c298c58c32d04f40a45ff13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_42.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.14122450 0.02430110 0.03301111
+v 0.14090855 0.02430110 0.03158399
+v 0.14118764 0.02470883 0.03301111
+v 0.13436828 0.02430110 0.03301111
+v 0.13769634 0.02430115 0.01828956
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+v 0.14084009 0.02558664 0.03181409
+v 0.14110602 0.02558664 0.03301111
+v 0.12701970 0.02430119 0.00800847
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+v 0.13635879 0.02558671 0.01403025
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+v 0.13616923 0.02430117 0.01302907
+v 0.12988172 0.05945689 0.00800860
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+v 0.13515816 0.06276660 0.03057071
+v 0.13593488 0.05957192 0.03301124
+v 0.13426823 0.02430119 0.00824836
+v 0.12056895 0.06541451 0.00800862
+v 0.13533721 0.06295846 0.03301125
+v 0.12217768 0.07330040 0.02019664
+v 0.11840202 0.07330041 0.01599118
+v 0.13522662 0.02430118 0.01037802
+v 0.12704866 0.06377880 0.00800861
+v 0.12679590 0.06409060 0.00800862
+v 0.12006605 0.07330041 0.01603035
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 33
+f 1 33 36
+f 1 36 23
+f 1 23 22
+f 1 22 10
+f 1 10 4
+f 1 4 9
+f 1 9 20
+f 1 20 34
+f 1 34 39
+f 1 39 26
+f 1 26 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 9 13 21
+f 9 21 35
+f 9 35 41
+f 9 41 40
+f 9 40 28
+f 9 28 27
+f 9 27 20
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 37
+f 11 37 31
+f 11 31 42
+f 11 42 38
+f 11 38 25
+f 11 25 13
+f 11 13 12
+f 13 25 21
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 19
+f 17 19 18
+f 20 27 34
+f 21 25 35
+f 23 36 24
+f 24 36 37
+f 25 38 35
+f 26 39 27
+f 27 39 34
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 31
+f 29 31 30
+f 31 37 36
+f 31 36 32
+f 32 36 33
+f 35 38 42
+f 35 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_43.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b142d8d30a6b7e82b36d1059b6ba5085b81e94f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_43.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.12594440 -0.09913406 0.03944247
+v 0.12316531 -0.09913406 0.03914530
+v 0.12598275 -0.09913406 0.03939635
+v 0.12993790 -0.09700999 0.03941685
+v 0.13108329 -0.09502547 0.04030837
+v 0.12914278 -0.09600223 0.04030837
+v 0.12347466 -0.09606940 0.03891987
+v 0.12041945 -0.09913405 0.03586105
+v 0.12859054 -0.09168174 0.04030838
+v 0.13651364 -0.04805823 0.04030854
+v 0.12722529 -0.09913405 0.03579956
+v 0.13649062 -0.09207968 0.04030838
+v 0.12041434 -0.09913405 0.03580981
+v 0.13696616 -0.04633727 0.04030855
+v 0.11839713 -0.08554721 0.02440978
+v 0.11839713 -0.08980568 0.02456347
+v 0.11839713 -0.09403314 0.02360533
+v 0.11839713 -0.09499956 0.02287777
+v 0.13990632 -0.08933028 0.04030839
+v 0.12720227 -0.09913405 0.03564073
+v 0.12070580 -0.09913404 0.03216178
+v 0.11839713 -0.09499956 0.02273431
+v 0.11839713 -0.08381591 0.02346703
+v 0.14270075 -0.04633727 0.04030855
+v 0.11839713 -0.04633712 -0.00010667
+v 0.13967622 -0.08898918 0.03975504
+v 0.14028982 -0.08849822 0.04030839
+v 0.12513905 -0.09913404 0.03238210
+v 0.11839713 -0.09051367 0.01682165
+v 0.12302724 -0.09913404 0.03226426
+v 0.11839713 -0.09462746 0.02109474
+v 0.14451598 -0.07072013 0.04030846
+v 0.14197466 -0.04633726 0.03775698
+v 0.11839713 -0.04633708 -0.01203449
+v 0.14063241 -0.08521649 0.03865348
+v 0.14124857 -0.08641033 0.04030840
+v 0.11839713 -0.07532473 0.00437127
+v 0.11839713 -0.07443065 0.00369496
+v 0.11839713 -0.06882331 -0.00049102
+v 0.11839713 -0.06526251 -0.00303746
+v 0.11839713 -0.06320562 -0.00447719
+v 0.11839713 -0.09173334 0.01808206
+v 0.13750562 -0.04633721 0.02505549
+v 0.14058895 -0.04633724 0.03307911
+v 0.12467885 -0.04633711 -0.00191019
+v 0.12565549 -0.04633712 0.00000092
+v 0.13019101 -0.04633715 0.00901340
+v 0.13569039 -0.04633720 0.02044935
+v 0.11854542 -0.04633708 -0.01180393
+v 0.12225513 -0.05372225 -0.00316039
+v 0.11943258 -0.05372223 -0.00744374
+v 0.11858888 -0.05939160 -0.00624483
+v 0.11839713 -0.05844066 -0.00690577
+v 0.11839713 -0.06216167 -0.00512277
+v 0.11839713 -0.06050789 -0.00596303
+v 0.12153671 -0.05889031 -0.00199222
+v 0.12455101 -0.04805807 -0.00149006
+v 0.11839713 -0.05939160 -0.00649589
+f 1 2 8
+f 1 8 13
+f 1 13 21
+f 1 21 30
+f 1 30 28
+f 1 28 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 10
+f 2 10 7
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 19
+f 5 19 27
+f 5 27 36
+f 5 36 32
+f 5 32 24
+f 5 24 14
+f 5 14 10
+f 5 10 9
+f 5 9 6
+f 7 10 8
+f 8 10 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 13
+f 11 19 12
+f 11 20 19
+f 13 18 22
+f 13 22 21
+f 14 23 15
+f 14 24 33
+f 14 33 44
+f 14 44 43
+f 14 43 48
+f 14 48 47
+f 14 47 46
+f 14 46 45
+f 14 45 49
+f 14 49 34
+f 14 34 25
+f 14 25 23
+f 15 23 25
+f 15 25 34
+f 15 34 53
+f 15 53 58
+f 15 58 55
+f 15 55 54
+f 15 54 41
+f 15 41 40
+f 15 40 39
+f 15 39 38
+f 15 38 37
+f 15 37 29
+f 15 29 42
+f 15 42 31
+f 15 31 22
+f 15 22 18
+f 15 18 17
+f 15 17 16
+f 19 26 27
+f 19 20 28
+f 19 28 29
+f 19 29 26
+f 21 22 31
+f 21 31 30
+f 24 32 33
+f 26 35 36
+f 26 36 27
+f 26 29 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 35
+f 28 30 31
+f 28 31 42
+f 28 42 29
+f 32 43 44
+f 32 44 33
+f 32 36 35
+f 32 35 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 43
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 35 41 54
+f 35 54 55
+f 35 55 52
+f 35 52 56
+f 35 56 50
+f 35 50 57
+f 35 57 45
+f 45 57 50
+f 45 50 49
+f 50 56 51
+f 51 56 52
+f 52 55 58
+f 52 58 53
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_44.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbdca418b30063282601909c71411167b36a5fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_44.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.10056333 0.06623283 -0.01200495
+v -0.10056333 0.06623288 -0.02399638
+v -0.08890250 0.06623289 -0.02676560
+v -0.10056333 0.11077166 0.03857026
+v -0.10056333 0.06856555 -0.02254461
+v -0.09174252 0.08638552 -0.02273640
+v -0.09951061 0.06623288 -0.02532023
+v -0.09832486 0.06623289 -0.02676560
+v -0.07102083 0.09447364 -0.02676549
+v -0.07102083 0.11077184 -0.01063616
+v -0.10056333 0.11077173 0.01855897
+v -0.10056333 0.07280362 -0.01977537
+v -0.09131159 0.09684552 -0.01671826
+v -0.09639007 0.07883372 -0.02148932
+v -0.08693011 0.09316557 -0.02461024
+v -0.09767993 0.06761942 -0.02676559
+v -0.09003330 0.09355798 -0.02044682
+v -0.07102083 0.10672567 -0.02676545
+v -0.07102083 0.11077188 -0.02267875
+v -0.10036088 0.11077173 0.01816884
+v -0.10056333 0.10288426 0.00441225
+v -0.10056333 0.07704168 -0.01693579
+v -0.08968915 0.10062141 -0.01447985
+v -0.08625915 0.09730335 -0.02279392
+v -0.10056333 0.07887295 -0.01568867
+v -0.10056333 0.08157623 -0.01352061
+v -0.09624546 0.10122744 -0.00461811
+v -0.09029937 0.08325058 -0.02641378
+v -0.08588029 0.09154796 -0.02676550
+v -0.08958503 0.08409209 -0.02676553
+v -0.08105632 0.09763039 -0.02676548
+v -0.07102083 0.10694369 -0.02656719
+v -0.07102083 0.10974290 -0.02376598
+v -0.07455783 0.10814271 -0.02225027
+v -0.07474582 0.11077187 -0.01912929
+v -0.09842319 0.11077175 0.01444670
+v -0.09470688 0.11077177 0.00801930
+v -0.09218499 0.11077179 0.00376634
+v -0.09739073 0.10267499 -0.00094072
+v -0.10056333 0.08193813 -0.01322003
+v -0.08592366 0.10247884 -0.01682057
+v -0.09105999 0.10206897 -0.01080888
+v -0.08274528 0.11077184 -0.01006697
+v -0.07102083 0.10910631 -0.02440553
+v -0.08345384 0.09525846 -0.02676549
+v -0.08425205 0.09479192 -0.02647130
+v -0.08011061 0.10808600 -0.01669264
+v -0.07587372 0.11077187 -0.01801009
+v -0.09213295 0.10295843 -0.00802686
+v -0.08403804 0.09459571 -0.02676549
+v -0.08793944 0.11077181 -0.00269304
+v -0.08395417 0.11077183 -0.00846811
+v -0.07997179 0.11077185 -0.01353969
+v -0.08348565 0.11077183 -0.00910765
+v -0.07705948 0.11077186 -0.01674380
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 40
+f 1 40 26
+f 1 26 25
+f 1 25 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 16
+f 3 16 30
+f 3 30 29
+f 3 29 50
+f 3 50 45
+f 3 45 31
+f 3 31 18
+f 3 18 9
+f 3 9 4
+f 4 10 19
+f 4 19 35
+f 4 35 48
+f 4 48 55
+f 4 55 53
+f 4 53 43
+f 4 43 54
+f 4 54 52
+f 4 52 51
+f 4 51 38
+f 4 38 37
+f 4 37 36
+f 4 36 20
+f 4 20 11
+f 4 9 10
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 16 7
+f 6 14 17
+f 6 17 15
+f 7 16 8
+f 9 18 32
+f 9 32 44
+f 9 44 33
+f 9 33 19
+f 9 19 10
+f 11 20 21
+f 12 22 13
+f 13 23 24
+f 13 24 17
+f 13 17 14
+f 13 22 25
+f 13 25 26
+f 13 26 27
+f 13 27 23
+f 15 28 16
+f 15 17 24
+f 15 24 29
+f 15 29 30
+f 15 30 28
+f 16 28 30
+f 18 31 24
+f 18 24 32
+f 19 33 34
+f 19 34 35
+f 20 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 27
+f 21 27 40
+f 23 41 24
+f 23 27 42
+f 23 42 43
+f 23 43 41
+f 24 44 32
+f 24 31 45
+f 24 45 46
+f 24 46 29
+f 24 41 47
+f 24 47 48
+f 24 48 35
+f 24 35 34
+f 24 34 44
+f 26 40 27
+f 27 39 49
+f 27 49 42
+f 29 46 50
+f 33 44 34
+f 38 51 39
+f 39 51 52
+f 39 52 49
+f 41 43 53
+f 41 53 47
+f 42 49 52
+f 42 52 54
+f 42 54 43
+f 45 50 46
+f 47 53 55
+f 47 55 48
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_45.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594c137e07c16f701e88a8a77f7e01e0c0e606ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_45.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.13203721 0.06428237 0.03301370
+v 0.13533827 0.06295846 0.03301369
+v 0.12783254 0.06372595 0.03301369
+v 0.12310172 0.07330027 0.05505228
+v 0.12476483 0.07330027 0.05463860
+v 0.12638218 0.07330027 0.05433854
+v 0.13004698 0.07330027 0.05426571
+v 0.13179930 0.07330027 0.05449877
+v 0.13458563 0.07330026 0.05808786
+v 0.13459936 0.07330026 0.05814613
+v 0.13574318 0.07053251 0.05814612
+v 0.13752753 0.06523685 0.05814610
+v 0.13858212 0.05957185 0.05263134
+v 0.14084003 0.05248218 0.05455987
+v 0.14236816 0.04258161 0.05263128
+v 0.14602151 0.02430102 0.05452772
+v 0.13593534 0.05957192 0.03301368
+v 0.12672533 0.05957192 0.03301368
+v 0.12274256 0.07330026 0.05814613
+v 0.13214016 0.07330024 0.06226251
+v 0.13551213 0.06990411 0.06152254
+v 0.14081257 0.05234306 0.06121659
+v 0.13917005 0.05957183 0.05814608
+v 0.14021092 0.05591668 0.05814607
+v 0.14098643 0.05308657 0.05814605
+v 0.14202045 0.04824660 0.05814604
+v 0.14306589 0.04258159 0.05814602
+v 0.14611302 0.02430101 0.05586198
+v 0.14192437 0.02430109 0.03608992
+v 0.14110539 0.02558664 0.03301355
+v 0.14178710 0.02558663 0.03608992
+v 0.14062498 0.02915066 0.03301357
+v 0.14100016 0.03106457 0.03607829
+v 0.13437060 0.02430110 0.03301355
+v 0.12310401 0.07330025 0.06101274
+v 0.13726217 0.02430101 0.05814595
+v 0.12632499 0.07330024 0.06247227
+v 0.13203721 0.06523683 0.06277230
+v 0.13618011 0.06523683 0.06195077
+v 0.14119460 0.04824658 0.06152246
+v 0.14566007 0.02430100 0.05899078
+v 0.14611302 0.02430101 0.05705349
+v 0.14122663 0.02430110 0.03301355
+v 0.12322525 0.07307960 0.06120501
+v 0.12317492 0.07330025 0.06123706
+v 0.13768309 0.02430100 0.05890339
+v 0.13931646 0.02430099 0.06156316
+v 0.13768309 0.04824658 0.06226242
+v 0.14160638 0.04258157 0.06171180
+v 0.13689156 0.05957181 0.06204689
+v 0.14195410 0.02430099 0.06156316
+v 0.14369499 0.02430100 0.06117861
+v 0.14266556 0.02558653 0.06158647
+v 0.14189462 0.03691656 0.06170887
+v 0.14290346 0.02430099 0.06154568
+f 1 2 17
+f 1 17 32
+f 1 32 30
+f 1 30 43
+f 1 43 34
+f 1 34 18
+f 1 18 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 3 18 4
+f 4 19 35
+f 4 35 45
+f 4 45 37
+f 4 37 20
+f 4 20 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 14 16 15
+f 16 27 28
+f 16 28 42
+f 16 42 41
+f 16 41 52
+f 16 52 55
+f 16 55 51
+f 16 51 47
+f 16 47 46
+f 16 46 36
+f 16 36 34
+f 16 34 43
+f 16 43 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 32
+f 18 34 19
+f 19 34 36
+f 19 36 35
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 22
+f 22 40 41
+f 22 41 27
+f 22 27 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 22 39 40
+f 27 41 42
+f 27 42 28
+f 29 43 30
+f 30 32 31
+f 35 44 45
+f 35 36 44
+f 36 46 44
+f 37 45 47
+f 37 47 38
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 38 47 51
+f 38 51 48
+f 39 50 49
+f 39 49 40
+f 40 49 41
+f 41 49 52
+f 44 46 47
+f 44 47 45
+f 48 51 53
+f 48 53 54
+f 48 54 49
+f 49 54 55
+f 49 55 52
+f 51 55 53
+f 53 55 54
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_46.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5627c3dff6d5ebc6456855ea2ca8055a8840f5f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_46.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.08120874 0.00292042 -0.06172603
+v 0.08006361 0.00450010 -0.06167141
+v 0.08006361 0.01991779 -0.06156214
+v 0.08047602 0.01991779 -0.06156214
+v 0.08120874 0.00858832 -0.06164069
+v 0.08423774 0.00292041 -0.06064744
+v 0.08419569 -0.00135736 -0.06059966
+v 0.08171524 -0.00304445 -0.06141886
+v 0.08078032 -0.00840273 -0.06162026
+v 0.08024579 -0.01406430 -0.06163735
+v 0.08006361 -0.01406430 -0.06163735
+v 0.08006361 0.02049279 -0.06155530
+v 0.08158111 0.01381390 -0.06134712
+v 0.08008363 0.02429666 -0.06149726
+v 0.08405756 0.01162761 -0.06044603
+v 0.08413364 0.00858831 -0.06053137
+v 0.10051585 0.00775418 -0.04439000
+v 0.10051585 0.00292035 -0.04439685
+v 0.10051585 0.00008957 -0.04432518
+v 0.10051585 -0.00394178 -0.04418524
+v 0.10051585 -0.00482640 -0.04413405
+v 0.10051585 -0.00840280 -0.04383711
+v 0.10051585 -0.00879456 -0.04379274
+v 0.10051585 -0.01157480 -0.04343777
+v 0.08393344 -0.00513596 -0.06035393
+v 0.08006361 -0.01590305 -0.06157934
+v 0.08006361 0.02429666 -0.06149726
+v 0.08290642 0.02429665 -0.05921037
+v 0.08330081 0.01991778 -0.05973604
+v 0.08371121 0.01540621 -0.06016953
+v 0.10051585 0.01073661 -0.04427053
+v 0.10051585 0.02429659 -0.04264235
+v 0.10051585 0.01991772 -0.04325675
+v 0.10051585 0.01976607 -0.04327724
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+v 0.08360511 -0.00840274 -0.06003309
+v 0.08006361 -0.01910033 -0.06123119
+v 0.09988923 -0.01973227 -0.04281658
+v 0.09650789 -0.02539384 -0.04491577
+v 0.08006361 0.02429660 -0.04706936
+v 0.10008142 0.02429659 -0.04305535
+v 0.10051585 0.02429655 -0.03370640
+v 0.10051585 -0.01973228 -0.04217147
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+v 0.10051585 -0.03660959 -0.03787081
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+v 0.09815151 -0.04025550 -0.03900062
+v 0.10051585 -0.03678652 -0.03781279
+v 0.09990925 -0.04025550 -0.03725985
+f 1 2 3
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+f 42 49 47
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+f 47 53 54
+f 47 54 55
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+f 48 57 49
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+f 49 58 59
+f 49 59 53
+f 50 60 70
+f 50 70 69
+f 50 69 68
+f 50 68 67
+f 50 67 66
+f 50 66 65
+f 50 65 64
+f 50 64 63
+f 50 63 74
+f 50 74 76
+f 50 76 73
+f 50 73 62
+f 50 62 61
+f 50 61 51
+f 51 61 62
+f 53 59 54
+f 54 59 63
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+f 54 64 65
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+f 72 73 76
+f 72 76 74
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_47.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114d1c025dd67bf32929d908d6757e78a3d92d50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_47.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.14989280 -0.05316976 0.06230846
+v -0.14447210 -0.03425461 0.06223679
+v -0.14728870 -0.03425461 0.06225074
+v -0.15038908 -0.05316976 0.06229850
+v -0.14595960 -0.05316976 0.06199159
+v -0.14279191 -0.03425461 0.06181429
+v -0.14903885 -0.03425461 0.06194981
+v -0.14929755 -0.03672849 0.06204547
+v -0.14981889 -0.04239285 0.06209327
+v -0.15325451 -0.05316976 0.06131997
+v -0.14154331 -0.03520452 0.06121242
+v -0.14142584 -0.03425461 0.06129811
+v -0.14371449 -0.05316974 0.05814523
+v -0.15076920 -0.03425459 0.05814530
+v -0.15299186 -0.04590181 0.05976750
+v -0.15333502 -0.04967744 0.06108084
+v -0.15348681 -0.05316975 0.06123228
+v -0.14057717 -0.03425459 0.05807754
+v -0.14187328 -0.05316969 0.04341148
+v -0.15129714 -0.03672847 0.05814530
+v -0.15025181 -0.03425459 0.05640347
+v -0.15322548 -0.04488891 0.05531331
+v -0.15322548 -0.04488892 0.05609055
+v -0.15350529 -0.04789609 0.05801571
+v -0.15406095 -0.05316974 0.05813327
+v -0.14067087 -0.03425459 0.05630781
+v -0.14520463 -0.05316968 0.04195066
+v -0.14104044 -0.03425458 0.05442050
+v -0.14925135 -0.03425458 0.05401793
+v -0.15346438 -0.04805718 0.05501634
+v -0.15405435 -0.05316974 0.05784031
+v -0.14873264 -0.05316970 0.04698680
+v -0.14469912 -0.03425457 0.05305136
+v -0.15374682 -0.05316973 0.05457389
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 31
+f 1 31 34
+f 1 34 32
+f 1 32 27
+f 1 27 19
+f 1 19 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 12
+f 2 12 18
+f 2 18 26
+f 2 26 28
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+f 2 33 29
+f 2 29 21
+f 2 21 14
+f 2 14 7
+f 2 7 3
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+f 4 8 9
+f 4 9 10
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+f 5 12 6
+f 5 13 11
+f 7 14 15
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+f 11 18 12
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+f 15 24 16
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+f 16 25 17
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+f 19 28 26
+f 21 29 22
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+f 22 25 23
+f 22 29 27
+f 22 27 32
+f 22 32 30
+f 23 25 24
+f 27 33 28
+f 27 29 33
+f 30 34 31
+f 30 32 34
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_48.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a603d45113bfa3c5c498d9f050bb6fe5326f5c3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_48.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.14273604 -0.02378924 0.04192974
+v -0.13905045 -0.02564242 0.04192974
+v -0.14270326 -0.01938480 0.04192976
+v -0.14218734 -0.02130683 0.03608520
+v -0.14218734 -0.02302228 0.03608520
+v -0.13852418 -0.03153214 0.01954399
+v -0.13842237 -0.03153214 0.01987482
+v -0.13732670 -0.03153216 0.02332755
+v -0.13438479 -0.02441844 0.04192974
+v -0.13433648 -0.03153216 0.02332755
+v -0.14247205 -0.01868516 0.04192976
+v -0.14262906 -0.01935506 0.04147345
+v -0.14189228 -0.02246506 0.03324088
+v -0.13626555 -0.01685692 0.01112137
+v -0.14189228 -0.02259497 0.03324088
+v -0.13652264 -0.02312549 0.01015169
+v -0.13755619 -0.03153213 0.01580227
+v -0.13352379 -0.01973384 0.04192976
+v -0.13138249 -0.03153214 0.01928922
+v -0.13137385 -0.03151179 0.01930443
+v -0.13040760 -0.02281252 0.02873103
+v -0.14187504 -0.01692433 0.04192977
+v -0.14160759 -0.01721389 0.03955316
+v -0.13736985 -0.01973374 0.01403032
+v -0.13659511 -0.01653919 0.01403033
+v -0.13214686 -0.01580351 0.00308274
+v -0.13219000 -0.01587395 0.00308274
+v -0.13417773 -0.01973370 0.00308273
+v -0.13647778 -0.01973373 0.01031902
+v -0.13742333 -0.03153213 0.01547905
+v -0.13037136 -0.01668323 0.02343408
+v -0.13361350 -0.01955071 0.04192976
+v -0.13040760 -0.02145238 0.02873103
+v -0.12522085 -0.01865215 0.00308273
+v -0.13286120 -0.03153213 0.01552848
+v -0.12737250 -0.02429309 0.00308271
+v -0.13045764 -0.02992311 0.01645632
+v -0.13045764 -0.02992311 0.01730429
+v -0.12510869 -0.01973370 0.00308273
+v -0.14011851 -0.01647199 0.04192977
+v -0.13785988 -0.01601022 0.03057150
+v -0.13749063 -0.01602898 0.02505397
+v -0.13711965 -0.01614948 0.01954405
+v -0.12874597 -0.01570962 0.00851661
+v -0.12751054 -0.01589743 0.00308274
+v -0.13340473 -0.01554373 0.01403033
+v -0.13262654 -0.02444335 0.00308271
+v -0.13711275 -0.03153213 0.01547905
+v -0.13536313 -0.01635617 0.04192977
+v -0.12996933 -0.01632009 0.01954405
+v -0.12936714 -0.01590686 0.01403033
+v -0.13254544 -0.02444335 0.00308271
+v -0.13967679 -0.01637495 0.04192977
+v -0.13836198 -0.01610102 0.03608522
+v -0.13340473 -0.01556880 0.01954405
+v -0.13477475 -0.01610102 0.03608522
+v -0.13533207 -0.01633738 0.04159894
+v -0.13555293 -0.01632799 0.04192977
+v -0.13942315 -0.01635304 0.04192977
+f 1 2 9
+f 1 9 18
+f 1 18 32
+f 1 32 49
+f 1 49 58
+f 1 58 59
+f 1 59 53
+f 1 53 40
+f 1 40 22
+f 1 22 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 4
+f 4 13 15
+f 4 15 5
+f 4 12 14
+f 4 14 13
+f 5 15 6
+f 6 16 17
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+f 6 19 10
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+f 18 31 32
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+f 18 34 31
+f 19 35 36
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+f 19 38 20
+f 20 38 21
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+f 22 40 41
+f 22 41 42
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+f 26 45 34
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+f 26 47 28
+f 26 28 27
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+f 26 46 44
+f 28 47 30
+f 30 47 52
+f 30 52 48
+f 31 49 32
+f 31 34 50
+f 31 50 49
+f 33 39 34
+f 34 45 51
+f 34 51 50
+f 35 48 52
+f 35 52 36
+f 36 39 38
+f 36 38 37
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 46
+f 41 46 42
+f 42 46 43
+f 44 46 55
+f 44 55 56
+f 44 56 51
+f 44 51 45
+f 49 57 58
+f 49 50 51
+f 49 51 57
+f 51 56 57
+f 53 59 54
+f 54 59 58
+f 54 58 56
+f 54 56 55
+f 56 58 57
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_49.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e97be9130187539ec4d40f9f3f6091237107d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_49.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.13555345 -0.01632898 0.04192977
+v -0.13536436 -0.01635707 0.04192977
+v -0.13942464 -0.01635451 0.04192977
+v -0.13905153 -0.00817145 0.05326557
+v -0.13599747 -0.00817145 0.05501247
+v -0.13361364 -0.01955116 0.04192976
+v -0.13967956 -0.01637494 0.04192977
+v -0.14433410 -0.00817145 0.05359601
+v -0.13600928 -0.00817146 0.05650752
+v -0.13352247 -0.01973499 0.04192976
+v -0.14012021 -0.01647196 0.04192977
+v -0.14636846 -0.00817146 0.05793004
+v -0.14187768 -0.01692388 0.04192977
+v -0.13677744 -0.00817147 0.05925382
+v -0.13576449 -0.02095295 0.05634830
+v -0.13576449 -0.02341682 0.05634829
+v -0.13519554 -0.02414957 0.05263081
+v -0.13472114 -0.02444573 0.04711808
+v -0.13438686 -0.02441762 0.04192974
+v -0.14644275 -0.00817146 0.05814563
+v -0.14247196 -0.01868562 0.04192976
+v -0.14270325 -0.01938520 0.04192976
+v -0.14759751 -0.01601498 0.05528445
+v -0.13957996 -0.00817148 0.06195377
+v -0.14004085 -0.01973507 0.06195172
+v -0.14039370 -0.02539814 0.06186506
+v -0.14103018 -0.03106122 0.06159101
+v -0.14142523 -0.03425020 0.06129883
+v -0.14057772 -0.03425018 0.05807702
+v -0.13905153 -0.02564318 0.04192974
+v -0.14067058 -0.03425018 0.05630795
+v -0.14104031 -0.03425017 0.05442201
+v -0.14751479 -0.01692140 0.06084152
+v -0.14396944 -0.00817148 0.06195982
+v -0.15076976 -0.03425018 0.05814553
+v -0.14273532 -0.02378953 0.04192974
+v -0.14925201 -0.03425017 0.05401702
+v -0.15025146 -0.03425018 0.05640265
+v -0.13962048 -0.00840638 0.06196385
+v -0.13989736 -0.01406945 0.06198196
+v -0.14469709 -0.03106122 0.06251383
+v -0.14447085 -0.03425020 0.06223576
+v -0.14279104 -0.03425020 0.06181465
+v -0.14469709 -0.03425016 0.05304987
+v -0.14903929 -0.03425020 0.06194964
+v -0.14870671 -0.03106122 0.06182474
+v -0.14778322 -0.02070019 0.06116792
+v -0.14469709 -0.02539814 0.06244132
+v -0.14728687 -0.03425020 0.06224986
+f 1 2 6
+f 1 6 10
+f 1 10 19
+f 1 19 30
+f 1 30 36
+f 1 36 22
+f 1 22 21
+f 1 21 13
+f 1 13 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 20
+f 4 20 34
+f 4 34 24
+f 4 24 14
+f 4 14 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 13
+f 8 13 12
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 12 13 21
+f 12 21 22
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+f 12 23 20
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 14 16 15
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 19
+f 19 29 31
+f 19 31 32
+f 19 32 30
+f 20 33 34
+f 20 23 35
+f 20 35 33
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 35
+f 24 34 39
+f 24 39 40
+f 24 40 25
+f 25 41 26
+f 25 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 28 43 42
+f 28 42 49
+f 28 49 45
+f 28 45 35
+f 28 35 38
+f 28 38 37
+f 28 37 44
+f 28 44 32
+f 28 32 31
+f 28 31 29
+f 30 32 44
+f 30 44 37
+f 30 37 36
+f 33 35 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 46
+f 34 46 45
+f 34 45 48
+f 34 48 39
+f 39 48 41
+f 39 41 40
+f 41 48 49
+f 41 49 42
+f 45 49 48
+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2064aeb067153c9cb8457d2ff46ea268290b600d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_5.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.04734459 0.08764748 -0.04692118
+v 0.06723289 0.08764748 -0.04692118
+v 0.04894795 0.08387098 -0.04692119
+v 0.10746378 0.02429652 -0.02581618
+v 0.07586430 0.08764742 -0.03058404
+v 0.07256405 0.08764747 -0.04369425
+v 0.07734072 0.08400740 -0.04324802
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+v 0.07261082 0.08231450 -0.04692120
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_50.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dcbd3530afe13b13338ab1165e4ade0a18c1676
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_50.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e76d228b2e0e1ad00c1764a0098e0d52aa22a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e1064e22033404ee37c8157c916e4a9632a04c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.08006361 -0.06409578 -0.04427133
+v 0.07993562 -0.06427701 -0.04427133
+v 0.06160287 -0.06242840 -0.06057356
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa975affb2ac5eda6435631f14367a70c343c5f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_8.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.05998379 0.07060442 -0.04631157
+v -0.05998379 0.07061213 -0.04631157
+v -0.08653139 0.07061206 -0.02676559
+v -0.10720621 -0.00816859 -0.02676588
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+v -0.10269246 0.05726346 -0.02774724
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+
diff --git a/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17d01fcb79a684221022c13592b6bea88c55c1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/mjcf/mesh/fruit_bowl_collision_9.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04080888 0.11637994 -0.02676541
+v -0.04080888 0.12708134 -0.02676537
+v -0.00164992 0.12495187 -0.02676538
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