diff --git a/.gitattributes b/.gitattributes
index fcd5a5cbaab5602094b68969d486b6949a1ba391..bbbf0fee072844c9416916e62d903a85e4440455 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4265,3 +4265,7 @@ dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.usd
 dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/92a6e5da3c115ec385c4088541aec189.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.urdf b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a16ea211ae2127c6db86584f62e3a13c71ba385f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl_002">
+   <link name="bowl_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_002.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>8ba52632b9ac5ba38b22117a2fa3ec5c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>bowl</category>
+         <name>floral bowl</name>
+         <color>white,blue</color>
+         <shape>hemisphere</shape>
+         <material>ceramic</material>
+         <description>ceramic bowl with blue floral patterns</description>
+         <min_height>0.0610</min_height>
+         <max_height>0.0610</max_height>
+         <real_height>0.0610</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003705</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.usd b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..97f181fdd05e37e3770a7f4bfed8198a60fd8e8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:745c573088589c86b58b8c852c2c275b56ff81872eddc5190e491c77d324f3f5
+size 127107574
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.glb b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9a6dbb10ca03b809b3a80e588f83283141766e5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48ac67e27056b2bdda1274e633a4467d812d26b2f816ac125edacfbdb6c410f4
+size 78250992
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.mtl b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8dce2608af4d99affc56427e930550b7c94c0e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.mtl
@@ -0,0 +1,6 @@
+newmtl bowl_002_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0da95408b064a7803ed732338ff39e1958c3bce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e9ac30dd63970cda1b514acedde711b2e22202de96c3939fc984b72ff3d6e4
+size 113559835
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002_collision.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b8d09ecda6bd8800e5349c9b94736fdad11d522
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002_collision.obj
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+
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84c2586fa25be9c0988fc56b5842efb340ec6c21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a040e06932ff8afaa920bd8a3ebef26dfbe10f83c50e4fe57349327e65c9ee7a
+size 10802125
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/material.mtl b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eda5a72a7301e3f041aa22abdb728cccdaf59513
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_002_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bowl_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/material_0.png b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84c2586fa25be9c0988fc56b5842efb340ec6c21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a040e06932ff8afaa920bd8a3ebef26dfbe10f83c50e4fe57349327e65c9ee7a
+size 10802125
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/bowl_002.xml b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/bowl_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f175da554dc1f6ac40ba30fc5eb81cf975a3c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/bowl_002.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bowl_002">
+  <asset>
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f9e6cb862063b880b2e2152aa36a930b51ac54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002.obj
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32169c8754cb01d998337d008c19ea594f389cd9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_0.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a1a73836cf5a59feb09a3ae2c6acc3a54afbf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_0.obj
@@ -0,0 +1,1963 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_1.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d3a0b98517d6ce1364aa3478490f62a430cba3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_10.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae96039b7f4299347c957fe034b2e1b680f47ead
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_11.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b866b1ed779982cf65a20518060995c76395115f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_12.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6101df8b29615a14b6b1769a555dcd428e5b7a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_13.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1334975fd441e45a25c500edc35689428c50f13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_14.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5c88ae1d0a30d21194c41e178a6e7d835f44d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_15.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73edff6d3e1e0525e145c27618ae3e237dc75bf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_16.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0de2f5277f4641260a281547cf15183aabd993d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_17.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc4bf49b509ff8fde3a0860462bffbcb6e8019f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_17.obj
@@ -0,0 +1,1468 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_18.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572783b798d781eb7f096fa3c5508d506c140a2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_19.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3645b568cba035f56874725c43c55321be9c2b6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_2.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b25ed2f65f82633d555da5d7703204f80095519
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_20.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde40ef13df386320f8162bfb1a6b65fae2517bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_20.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02850203 0.00017989 -0.01367298
+v 0.02850203 -0.01788350 -0.01157677
+v 0.02850203 0.00017993 -0.02428424
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+v 0.01909649 0.00017993 -0.02497688
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_21.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9473d7080b716732bdb8cf67b01bd65d3f34b8d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_21.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00020355 0.00011124 -0.01636143
+v -0.00020355 -0.01792638 -0.01589991
+v -0.00020355 0.00011127 -0.02383200
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_22.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1912de0d359501b8ded26e30fbdf5f7b805c602c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_22.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00020355 0.01976900 -0.02523274
+v 0.01729012 0.00899860 -0.02523278
+v -0.00020355 0.02853872 -0.02523271
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_23.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43fee7b5887108d764e7b2aa260939d9ff744ca0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_23.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_24.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c0426488e5828dde735240d4269ec0490a78f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_24.obj
@@ -0,0 +1,277 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_25.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62216e68157685a2f68113cfae09c48d6a59652
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_25.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_26.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6af579da5e5fb278257eda10281bc243c74e5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_26.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_27.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3fa288f4b30173664b105cb0157d111f46fb49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_27.obj
@@ -0,0 +1,1069 @@
+# https://github.com/mikedh/trimesh
+v 0.00085211 0.04094469 -0.01676228
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_28.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93bf8a0f590094af19318ff095e22744edf1716
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_28.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_29.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54929354184b96a07a663fd4650b3800aadce06b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_29.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_3.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8484cdc9dae937e5132240dade38c664334d4108
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_30.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3172159dd15f04023cbe091065421fef4fae722
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_30.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_31.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2311caccaac02820832a91d9ffa74e7fc5248b53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_31.obj
@@ -0,0 +1,1267 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_32.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c0a54fc5652d596323aaed3a0865b442ee85b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01442049 0.01036266 -0.02423944
+v -0.01494578 0.00851528 -0.02423945
+v -0.02125627 0.00011130 -0.03227318
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+v -0.02286716 0.01036266 -0.02423944
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+v -0.02187821 0.00011130 -0.03261546
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+v -0.02045783 0.01036269 -0.03311540
+v -0.02676131 0.01036268 -0.02881720
+v -0.02700505 0.00976562 -0.02881720
+v -0.02789034 0.00775466 -0.02423945
+v -0.02873080 0.00397059 -0.02423947
+v -0.02873080 0.00011129 -0.02902422
+v -0.02471758 0.00011130 -0.03338872
+v -0.02258700 0.00763527 -0.03335196
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+v -0.02258700 0.01036269 -0.03337524
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+v -0.02792536 0.00660972 -0.02990499
+v -0.02765781 0.00781488 -0.02881721
+v -0.02668147 0.00976562 -0.03090671
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+v -0.02834279 0.00124420 -0.03090675
+v -0.02702326 0.00329429 -0.03252585
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_33.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f17f717c50527a7215f72e3123eac69b5bcdc38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_33.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01832583 0.01615826 -0.03339943
+v -0.02045634 0.01189759 -0.03333309
+v -0.02258686 0.01036269 -0.03337524
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_34.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78849391b31d16f5be3fc461084f1c99c7626de5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_34.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.02835647 0.00017993 -0.02497770
+v 0.02835647 -0.00088729 -0.02497770
+v 0.02834080 -0.00088728 -0.02672886
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_35.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b5628b27036ae5e77a406beecb876ffd7c378d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_35.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02356800 0.01634987 -0.02468496
+v -0.02329801 0.01673009 -0.02468496
+v -0.01751839 0.01634987 -0.02468496
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_36.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fab90f204bf1539d91a4fd412cd3c38e5cca618
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_36.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01789738 -0.01580068 -0.03339060
+v 0.02002758 -0.01154335 -0.03332634
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_37.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c32c3f941513712e181a86b2fa7eef17e56f3b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_37.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.01548516 0.04094464 -0.00293715
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+v 0.01548516 0.04094468 -0.01459312
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_38.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd94a3fd7a9b6b682d475d58e7232f260f012686
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_38.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+v -0.03091646 0.00011126 -0.02194570
+v -0.02873102 0.00103336 -0.02902544
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_39.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9852c6886fafa8e230060a07ddce3a3e47e85e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_39.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_4.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc525e98672b6dc182edc22b7e34e92f338a4d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_4.obj
@@ -0,0 +1,928 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_40.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2f8af36671f3dee2983a0d4e48b8a5e1fc3fc5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_40.obj
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+f 2 27 25
+f 2 25 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 10 23
+f 4 23 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 8 17 18
+f 8 18 9
+f 8 16 19
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 10 22 23
+f 11 23 41
+f 11 41 59
+f 11 59 65
+f 11 65 46
+f 11 46 42
+f 11 42 24
+f 12 25 13
+f 13 26 14
+f 13 25 27
+f 13 27 26
+f 14 28 15
+f 14 26 29
+f 14 29 30
+f 14 30 28
+f 16 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 22 38 23
+f 23 38 39
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+f 23 40 41
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+f 26 44 29
+f 26 27 45
+f 26 45 43
+f 27 42 46
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+f 27 47 45
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 40 58 41
+f 41 58 60
+f 41 60 61
+f 41 61 62
+f 41 62 59
+f 43 45 47
+f 43 47 63
+f 43 63 64
+f 43 64 44
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 47 69 63
+f 51 70 52
+f 52 70 71
+f 52 71 63
+f 52 63 53
+f 53 63 54
+f 54 63 69
+f 54 69 68
+f 54 68 67
+f 54 67 55
+f 55 67 72
+f 55 72 56
+f 56 72 73
+f 56 73 74
+f 56 74 75
+f 56 75 57
+f 59 62 66
+f 59 66 65
+f 60 76 61
+f 61 76 62
+f 62 76 77
+f 62 77 73
+f 62 73 72
+f 62 72 66
+f 63 71 64
+f 64 71 78
+f 66 72 67
+f 70 78 71
+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_41.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2632f32fea23cd95cfe4f888e51af44426aa03
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_41.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01653242 -0.01788349 -0.01492703
+v 0.01653242 -0.03372361 -0.00897967
+v 0.01653242 -0.01788345 -0.02333181
+v -0.00020355 -0.01788348 -0.01590351
+v 0.01653242 -0.03372357 -0.01862367
+v -0.00020355 -0.03372360 -0.01136116
+v 0.01653242 -0.02315108 -0.02333183
+v -0.00020355 -0.01788345 -0.02333181
+v 0.01653242 -0.03299785 -0.01899459
+v 0.01576738 -0.03372357 -0.01881896
+v -0.00020355 -0.03372356 -0.02049233
+v 0.01653242 -0.03194805 -0.01949056
+v 0.01593611 -0.02395278 -0.02333183
+v -0.00020355 -0.02887305 -0.02333185
+v 0.01576738 -0.03320099 -0.01908591
+v 0.01415046 -0.03372357 -0.01918567
+v 0.01400138 -0.03360882 -0.01927840
+v 0.00038293 -0.02887460 -0.02333185
+v -0.00001024 -0.03372356 -0.02049233
+v 0.01184058 -0.02622606 -0.02333184
+v 0.01526936 -0.02438696 -0.02333183
+v 0.01567400 -0.02413886 -0.02333183
+v 0.01394405 -0.03372357 -0.01923204
+v 0.01273668 -0.03372357 -0.01947089
+v 0.01164236 -0.02631600 -0.02333184
+v 0.00085309 -0.02887460 -0.02333185
+v 0.00085309 -0.03372356 -0.02049093
+v 0.01238938 -0.03372357 -0.01952849
+v 0.00713727 -0.02809462 -0.02333184
+v 0.00246837 -0.02880482 -0.02333185
+v 0.00297294 -0.03372356 -0.02043613
+v 0.01150475 -0.03372357 -0.01966056
+v 0.00661796 -0.02823263 -0.02333184
+v 0.00298277 -0.02876761 -0.02333185
+v 0.00391983 -0.03372357 -0.02039117
+v 0.01087895 -0.03372357 -0.01974487
+v 0.00515668 -0.02853191 -0.02333184
+v 0.00937343 -0.03372357 -0.01994578
+v 0.00452269 -0.02861874 -0.02333185
+v 0.00511408 -0.03372357 -0.02033216
+v 0.00844457 -0.03372357 -0.02004413
+v 0.00724540 -0.03372357 -0.02017058
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 19
+f 2 19 27
+f 2 27 31
+f 2 31 35
+f 2 35 40
+f 2 40 42
+f 2 42 41
+f 2 41 38
+f 2 38 36
+f 2 36 32
+f 2 32 28
+f 2 28 24
+f 2 24 23
+f 2 23 16
+f 2 16 10
+f 2 10 5
+f 3 7 13
+f 3 13 22
+f 3 22 21
+f 3 21 20
+f 3 20 25
+f 3 25 29
+f 3 29 33
+f 3 33 37
+f 3 37 39
+f 3 39 34
+f 3 34 30
+f 3 30 26
+f 3 26 18
+f 3 18 14
+f 3 14 8
+f 4 8 14
+f 4 14 11
+f 4 11 6
+f 5 10 9
+f 7 12 13
+f 9 10 15
+f 9 15 12
+f 10 16 17
+f 10 17 15
+f 11 14 18
+f 11 18 26
+f 11 26 19
+f 12 15 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 15 17 20
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 20
+f 19 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 32 36 33
+f 33 36 38
+f 33 38 37
+f 34 39 40
+f 34 40 35
+f 37 38 41
+f 37 41 42
+f 37 42 39
+f 39 42 40
+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_42.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef79ac3267551848147373d6169bcca7bac2f761
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00020355 0.02852367 -0.02894057
+v -0.00020355 0.02852367 -0.01181937
+v -0.00020355 0.02952367 -0.02894057
+v -0.00020355 0.02952367 -0.01181937
+v 0.01548516 0.02852367 -0.02894057
+v 0.01548516 0.02852367 -0.01181937
+v 0.01548516 0.02952367 -0.02894057
+v 0.01548516 0.02952367 -0.01181937
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_43.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd39092f6cb76cfa3dccdbaf3527b148dfee95a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_43.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01868311 0.00011127 -0.02450340
+v -0.01467907 -0.01122688 -0.02450344
+v -0.02073295 0.00011129 -0.03090679
+v -0.02883528 0.00011127 -0.02450340
+v -0.01722924 -0.01122686 -0.03090683
+v -0.02125546 0.00011130 -0.03227273
+v -0.02632530 -0.01122688 -0.02450344
+v -0.02877291 0.00011129 -0.02881786
+v -0.02883666 -0.00088759 -0.02450340
+v -0.01737754 -0.01122686 -0.03124614
+v -0.02258736 0.00011130 -0.03300530
+v -0.01838652 -0.01122685 -0.03254944
+v -0.02706402 -0.00940896 -0.02450343
+v -0.02630035 -0.01122686 -0.02881790
+v -0.02854561 0.00011129 -0.02992801
+v -0.02834742 -0.00088757 -0.03090679
+v -0.02877152 -0.00088757 -0.02881786
+v -0.02868005 -0.00301738 -0.02450341
+v -0.01861243 -0.01122685 -0.03266168
+v -0.02045714 -0.01122685 -0.03328810
+v -0.02471759 0.00011130 -0.03338898
+v -0.02702937 -0.00940894 -0.02881789
+v -0.02804805 -0.00645456 -0.02450342
+v -0.02611741 -0.01122686 -0.03012468
+v -0.02834465 0.00011129 -0.03090679
+v -0.02796767 0.00011130 -0.03202565
+v -0.02796905 -0.00088756 -0.03202739
+v -0.02793995 -0.00221049 -0.03198825
+v -0.02816309 -0.00295965 -0.03102165
+v -0.02858858 -0.00301736 -0.02881787
+v -0.02834881 -0.00514828 -0.02450342
+v -0.02077037 -0.01122685 -0.03334204
+v -0.02258736 -0.00940893 -0.03339162
+v -0.02471759 -0.00088756 -0.03338898
+v -0.02684919 -0.00088756 -0.03273298
+v -0.02684919 0.00011130 -0.03273124
+v -0.02671198 -0.00940894 -0.03090682
+v -0.02605920 -0.01109701 -0.03090683
+v -0.02766414 -0.00745229 -0.02881789
+v -0.02792331 -0.00624922 -0.02990280
+v -0.02834603 -0.00516492 -0.02450342
+v -0.02796212 -0.00638795 -0.02881788
+v -0.02603009 -0.01122686 -0.03071543
+v -0.02785402 -0.00363109 -0.03179423
+v -0.02702521 -0.00295964 -0.03252940
+v -0.02666070 -0.00514825 -0.03261989
+v -0.02643064 -0.00727803 -0.03253638
+v -0.02803558 -0.00514826 -0.03029693
+v -0.02823100 -0.00514826 -0.02881788
+v -0.02258736 -0.01122685 -0.03334378
+v -0.02471759 -0.00514825 -0.03336203
+v -0.02471759 -0.00301735 -0.03338377
+v -0.02471759 -0.00727803 -0.03327590
+v -0.02746872 -0.00708715 -0.03072238
+v -0.02588318 -0.01069968 -0.03207441
+v -0.02599960 -0.01122686 -0.03090683
+v -0.02772512 -0.00514825 -0.03134183
+v -0.02611602 -0.00940893 -0.03230408
+v -0.02471759 -0.00940893 -0.03302012
+v -0.02289921 -0.01122685 -0.03328984
+v -0.02493934 -0.01122685 -0.03251464
+v -0.02512506 -0.01122685 -0.03239719
+v -0.02576953 -0.01122685 -0.03165419
+v -0.02477995 -0.01122685 -0.03259642
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 21
+f 1 21 36
+f 1 36 26
+f 1 26 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 31
+f 1 31 41
+f 1 41 23
+f 1 23 13
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+f 22 40 37
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+f 24 38 43
+f 26 36 27
+f 27 36 35
+f 27 35 28
+f 28 44 29
+f 28 35 45
+f 28 45 46
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+f 28 47 44
+f 29 44 48
+f 29 48 30
+f 30 41 31
+f 30 48 40
+f 30 40 49
+f 30 49 41
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 35 52 51
+f 35 51 53
+f 35 53 46
+f 35 46 45
+f 37 40 54
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 43
+f 39 42 40
+f 40 57 54
+f 40 42 49
+f 40 48 57
+f 41 49 42
+f 44 57 48
+f 44 47 58
+f 44 58 57
+f 46 53 47
+f 47 53 59
+f 47 59 58
+f 50 60 53
+f 50 53 51
+f 53 60 59
+f 54 57 55
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 55 57 58
+f 55 58 61
+f 58 59 64
+f 58 64 61
+f 59 60 64
+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_44.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4986c9b3eb81f7183a99b557f5a49ef3d092e03f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_44.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00020525 0.03106340 -0.01278725
+v -0.00020525 0.01634984 -0.01606494
+v -0.00020525 0.03106343 -0.02180146
+v -0.01751669 0.03106339 -0.01060399
+v -0.00020525 0.01634987 -0.02396134
+v -0.01751669 0.01634984 -0.01510150
+v -0.00020525 0.02863230 -0.02468491
+v -0.00127980 0.02863086 -0.02468491
+v -0.00127980 0.03106343 -0.02179871
+v -0.01751669 0.03106342 -0.01985252
+v -0.00020525 0.01884294 -0.02468495
+v -0.00951688 0.01634987 -0.02468496
+v -0.01751669 0.01634987 -0.02468496
+v -0.00336449 0.02847531 -0.02468492
+v -0.00554241 0.03106343 -0.02157955
+v -0.00411363 0.03106343 -0.02168293
+v -0.00341025 0.03106343 -0.02172290
+v -0.00177470 0.03106343 -0.02178492
+v -0.01619469 0.03106342 -0.02013783
+v -0.00662035 0.02789489 -0.02468492
+v -0.00755931 0.02760828 -0.02468492
+v -0.00975247 0.02692705 -0.02468492
+v -0.00980162 0.02691120 -0.02468492
+v -0.01172192 0.02617668 -0.02468492
+v -0.01176429 0.02615939 -0.02468492
+v -0.01178802 0.02614931 -0.02468492
+v -0.01282867 0.02566683 -0.02468493
+v -0.01406254 0.02499567 -0.02468493
+v -0.01566080 0.02403071 -0.02468493
+v -0.01569640 0.02400910 -0.02468493
+v -0.01572012 0.02399326 -0.02468493
+v -0.01676078 0.02326018 -0.02468493
+v -0.01751669 0.02268552 -0.02468494
+v -0.00341025 0.02847099 -0.02468492
+v -0.00767286 0.03106343 -0.02138521
+v -0.00670509 0.03106343 -0.02147894
+v -0.01406423 0.03106343 -0.02053341
+v -0.00566952 0.02810805 -0.02468492
+v -0.01193208 0.03106343 -0.02086972
+v -0.01177446 0.03106343 -0.02089177
+v -0.00987281 0.03106343 -0.02113987
+v -0.01404898 0.03106343 -0.02053616
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 36
+f 1 36 35
+f 1 35 41
+f 1 41 40
+f 1 40 39
+f 1 39 42
+f 1 42 37
+f 1 37 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 33
+f 4 33 13
+f 4 13 6
+f 5 12 11
+f 7 11 12
+f 7 12 13
+f 7 13 33
+f 7 33 32
+f 7 32 31
+f 7 31 30
+f 7 30 29
+f 7 29 28
+f 7 28 27
+f 7 27 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 38
+f 7 38 34
+f 7 34 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 14 34 35
+f 14 35 36
+f 14 36 15
+f 19 37 38
+f 19 38 20
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 37 42 38
+f 38 42 39
+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_45.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762e81024a008cc0a81805bcae67c80b830cab68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_45.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.03091646 0.00011126 -0.02194648
+v -0.03537329 0.00011125 -0.01999844
+v -0.03091646 0.00124433 -0.02194465
+v -0.03091646 0.00011123 -0.01294709
+v -0.03654289 0.00011125 -0.01946982
+v -0.03537329 0.00124432 -0.01999661
+v -0.03091646 0.00337463 -0.02186050
+v -0.03558486 0.00357407 -0.01983563
+v -0.03091646 0.01487591 -0.01146360
+v -0.04111049 0.01487588 -0.00325989
+v -0.04111049 0.00011120 -0.00608231
+v -0.03760870 0.00011125 -0.01890461
+v -0.03760770 0.00124432 -0.01890461
+v -0.03654189 0.00124432 -0.01946799
+v -0.03649698 0.00299741 -0.01944603
+v -0.03091646 0.00353217 -0.02185135
+v -0.03528348 0.00550637 -0.01985940
+v -0.03643511 0.00441810 -0.01941309
+v -0.03091646 0.01487595 -0.02045751
+v -0.04111049 0.01487592 -0.01486032
+v -0.04111049 0.00011124 -0.01680475
+v -0.03946089 0.00011125 -0.01786017
+v -0.03946089 0.00124432 -0.01786017
+v -0.03732528 0.00357407 -0.01897777
+v -0.03939901 0.00337462 -0.01782541
+v -0.03091646 0.00550638 -0.02170684
+v -0.03324267 0.00550638 -0.02073557
+v -0.03634729 0.00550637 -0.01937285
+v -0.03508089 0.00763523 -0.01976977
+v -0.03324267 0.00763524 -0.02056179
+v -0.03750291 0.00550637 -0.01875643
+v -0.03091646 0.01402758 -0.02061664
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_46.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe971060b951cda0497bf866557a7f6d2057f85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01729012 0.00017993 -0.02322576
+v 0.02893163 0.00017993 -0.02322576
+v 0.01729012 0.00017990 -0.01596115
+v 0.01729012 0.01675898 -0.02322570
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_47.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5e5a29da1b2e0ff57c09eb825ccbe2f8c3c1bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_47.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.01833006 -0.01792566 -0.03326217
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+v -0.02150069 -0.01792566 -0.03156008
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+
diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_48.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b088abfa0ea21ff71d048f3dff9091814bdf66
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_48.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01707631 -0.03375675 -0.01856215
+v -0.01825824 -0.03375675 -0.01825919
+v -0.01707631 -0.03295717 -0.01897093
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_49.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e81aeaf8461a2493a4f4acef4f7f30e54f7a3e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_49.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_5.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fec5948774d667941289fe6a046532014d0ddcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_5.obj
@@ -0,0 +1,1333 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_6.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293da5c58c0ce0a91397b05fb462e4ab8173dcd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_7.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aeda940b3302163ad69943339209a77756d3f50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_8.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1afb3670841e54445fa0c61b4f2f34ff1afbc8c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_9.obj b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2e8694632776ef5e573fbd4f7e8d29b97464af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002_collision_9.obj
@@ -0,0 +1,1003 @@
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