diff --git a/.gitattributes b/.gitattributes
index 66308ea423edcd9572b147048c19b972f476de51..ce3c1812d35a8eb422e7d64cf228c9cb085a4d98 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4636,3 +4636,6 @@ dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/mesh/black_jar.gl
 dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.urdf b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..254fe6ceb88df0bec1af910ede21c4358361afe8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl">
+   <link name="bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/bowl.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/bowl_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.289433</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>wooden bowl with smooth surface and rounded edges</description>
+         <min_height>0.080</min_height>
+         <max_height>0.120</max_height>
+         <real_height>0.100</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260119131927</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.72506046295166</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.usd b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.usd
new file mode 100644
index 0000000000000000000000000000000000000000..931c7b5288e0dc74f798212bf52d0bff8633f232
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a49ea613ea21e4c2d968d66975a19778a6ee3fa59dd75a00efdbb7865a3ad74
+size 406794
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cbbb4e8c39173597ad16305036a607be1de7d837
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7571af014b05a49f3c4909938db9b6234e8f644e6f26b93f967102448bc4e491
+size 1797228
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6459cd86eacff5303590eb5288ce298a5786d0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.obj
@@ -0,0 +1,24588 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fed8bc550ff37700fd43ae060b88fc3f682fe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5d130277ccd9fefe1d3110adef03fa3a763d9027
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346d9112c41b9494bc2d27269bfd2713af48ebd0df823626ce1142f2d46e0549
+size 3347593
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/material.mtl b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/material_0.png b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41e74470a6da6519ef2a33a780f77d000580a159
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:210856d09736fe499ad541047d544db567b3a0a040a0305fcae6e04acd91b410
+size 1526678
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/156e2a830a4b534bbf7ab746dccfdc91.xml b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/156e2a830a4b534bbf7ab746dccfdc91.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51e2a519f18fe335f9a89411f330e203d92e2411
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/156e2a830a4b534bbf7ab746dccfdc91.xml
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bowl">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bowl.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bowl_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bowl_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bowl_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bowl_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bowl_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bowl_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bowl_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bowl_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bowl_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bowl_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bowl_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bowl_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bowl_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bowl_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bowl_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bowl_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bowl_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bowl_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bowl_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bowl_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bowl_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bowl_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bowl_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bowl_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bowl_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bowl_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bowl_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bowl_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bowl_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bowl_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bowl_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/bowl_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/bowl_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/bowl_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/bowl_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/bowl_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/bowl_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/bowl_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/bowl_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/bowl_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/bowl_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/bowl_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/bowl_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/bowl_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/bowl_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/bowl_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bowl">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e277760bceb40f3943e40964a19e15ff5ae33ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl.obj
@@ -0,0 +1,24588 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.011723 -0.018382 -0.041785
+v 0.000815 -0.020374 -0.041748
+v 0.008330 -0.024345 -0.041538
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+v -0.006322 -0.014975 -0.041818
+v 0.002048 0.018198 -0.041924
+v -0.009153 0.018931 -0.041761
+v 0.000810 0.025287 -0.041735
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+v 0.019125 0.009363 -0.041931
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+v 0.023195 0.003434 -0.041841
+v -0.018541 0.013243 -0.041626
+v -0.020342 -0.009601 -0.041516
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+v 0.025371 0.000405 -0.041741
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+v 0.022117 -0.018122 -0.041268
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+v -0.011511 0.029175 -0.040947
+v -0.001940 -0.032379 -0.040766
+v 0.001980 -0.033851 -0.040581
+v 0.009165 -0.031912 -0.040631
+v -0.024992 0.015590 -0.040955
+v 0.018662 0.024135 -0.041063
+v 0.025369 0.011227 -0.041321
+v 0.022983 0.018588 -0.041057
+v 0.004209 0.032083 -0.041021
+v 0.018889 -0.024168 -0.040973
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac242bf6be6e605f0d9f8ebe43fb41aef586ad60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,32889 @@
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44f6dc0e6b21a4a19f4b7e8cc3f1aba1d3b8885
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd40d78c17b271ba042bce79552c41fe3bf8a604
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95270f5d6003ad8ada3bc0c1de08d04a4906e952
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9c3d154fc704e062a7839ad80d4f5b89c07296
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd843cb3ccc7c2988a64d7a45dbe5827cabec64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a274e630935cef032f0913544688ed7329253d75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5b6d018d7107068ce63e2633aa008a88b37c4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2bd173936e702314709dc4f076794d3c6baaf5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c05383a0d8660e8f959f1022f323e539b912a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803b611104eb5efe0c8bb01345bd6bc0b734a7ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96263160f61e9b54e1d6f938613c4a1453b1f8ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af67972a07cff5efc5b3135280438ad25b59479b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32b2ce8ca04553d6db034be65d9841e4a4ef7fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa47baa28d402202968bd5409302657aaf36325
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b27cda62971852a02e602936dea17aacb626fd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_21.obj
@@ -0,0 +1,781 @@
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef63f6999fd45cc50b59ab43022d056c3eac569
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a549dae27eb749517482858fe446235bc6256f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d32b351a71de0eeba25258a57efc7634661cf8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9ed6883dcd163105c52ffde30c2a51ec02b523
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e63700f3e4d47f07082a60896d2eb619eb958bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978b3f74e8cb35ec16f6b42a25f910be47257079
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_27.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a345ae4f564250b81ec02407a6459287a2c4518b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c618e97fb9e8dbc7ffa608f87daaf700efded1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_29.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02427960 -0.03196420 -0.03425442
+v -0.05390273 -0.03196426 -0.01830228
+v -0.05005738 -0.03196420 -0.03425442
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+v -0.05390273 -0.03196422 -0.03125578
+v -0.05029807 -0.03196420 -0.03408418
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+v -0.05390273 0.00017847 -0.03425430
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+v -0.05283554 -0.02928985 -0.03315022
+v -0.05216565 -0.03196421 -0.03264578
+v -0.05179156 -0.02846550 -0.03425440
+v -0.05390273 -0.02317971 -0.03425439
+v -0.05390273 -0.02716609 -0.03303776
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+v -0.05209315 -0.02780793 -0.03425440
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+v -0.05390273 -0.02480007 -0.03379835
+v -0.05376643 -0.02480007 -0.03391392
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+
diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccc039539143b258936a1365259326920c50b19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_3.obj
@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
+v -0.03482250 -0.08328959 0.01119580
+v -0.00034354 -0.09152934 0.01119577
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc2f00133bcfab23eb1a47ec86fe759e198dce2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_30.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e430d208d5a0fa95d6a98a55de4feef7f9927e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_31.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c9daef8730c1f08131f2c94fd90c04f06c5f27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_32.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40cbf8866161db7137d72f16ed92fc948746d46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_33.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c867e407a0f40a344bd6f914bf15a936b9d1a96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a81487328f1ce6ed381ce5460f75c0ba942456
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_35.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32073cd76c34f44cf98b1a5d75377c03272c45f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_36.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45af0cf42d200ffc50449347cfda7e9b71760b66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1fce1bf430c99755a28998ac4de6efdb705341e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd0bb048442eb2f921dad2387233cac0f774fc04
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a80300aba008596efd48ed1e61a3a471191207
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0535cbb7e2912885e6014171ac8c82af555ff75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c31cd97e363b378460365a3f72d91bdabda450
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_42.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2396c6f22cfa46e276017f785b194ca59991311
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_43.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0253f2dd5192adb2752157231265579d477420d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_44.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596368084a6fb1cd0322778d2cceaf826d6e10a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_44.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_45.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec4eb8a462ba4337788841fa96a36894e7aae09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_45.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d824a7e7d04f2e3c8044fdd7c7c3b1cdf0f9493
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6162766e4cd9ea494804089c2eaa28407b783daf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e527a191cc8aeea50bbdbec768129aabb4999b75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e20855972e08805892f21a314fe626302ce32d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039ecbbaea5933a32247b774f1d25b50c9287b81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mjcf/mesh/bowl_collision_9.obj
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