diff --git a/.gitattributes b/.gitattributes
index b272353b46066f7d5890deae2b2ab822c110f274..f4fdf156d3472ebd2736e94e350b499abb122534 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4785,3 +4785,6 @@ dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.us
 dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.urdf b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c0fdefc9a53bd4dc6950d19ec28bc4e0cff1533
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.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>0.80</mu1>
+            <mu2>0.60</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>0.176172</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>matte black bowl with a flat base</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>20260119133026</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.572051525115967</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.usd b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e3d8978f807d1adecea7fab1c3473cf7b3435844
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76462bbdaf0734931c4df07f1b1bc089e4a670edb76d83e7f601ddbe936d7e21
+size 1012498
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.glb b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..da4070fbcfecea98a99e692ae68aeabecfd33508
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6872f22994b45d0e6ce991716c47cf189261f9f133512613369546fb5d91ee8
+size 1931740
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca812dfaf7845829b795519fbc3e69f52083cc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.obj
@@ -0,0 +1,62564 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f21bc11d809dbb24a35b5ad2cf29ad600ece30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7acd1efdf51c388034dafc8bc406dda1dcc3960a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce5341a28afe939431ab6d365f32a9e7a8d8b28a2d9457b92d4c86128fd9970
+size 4472969
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/material.mtl b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/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/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/material_0.png b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f69113771bbe4254db54ec749cff33e3c9624e19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:808c0dc012b21a448dcc84c208a9e9ebcfd6ab6fabfe2e6289923d18cad68068
+size 1247251
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/bc557e92e8c25eeaa14b703b31fd5e2e.xml b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/bc557e92e8c25eeaa14b703b31fd5e2e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..05a7043e94780ba52bd44c50749786e6e95198b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/bc557e92e8c25eeaa14b703b31fd5e2e.xml
@@ -0,0 +1,142 @@
+<?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" />
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+    <mesh name="collision_mesh_0_47" file="mesh/bowl_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/bowl_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/bowl_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/bowl_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/bowl_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/bowl_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/bowl_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/bowl_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/bowl_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/bowl_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/bowl_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/bowl_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/bowl_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/bowl_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/bowl_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/bowl_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/bowl_collision_63.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" />
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+      <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" />
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+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3927eb398c83a88d8ab426bd3dbf8c64b65c3d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl.obj
@@ -0,0 +1,62564 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6c965ed3c6b4faf3712e721e74b3b43d50835d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,33276 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd1c5bf429b25566da5f44d3e24a4ddb5fb18bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4140f2017acb4855ac1ec9c72b80ea515262f4a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_1.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af24f8f749d46258c7ccdd7795f8180c3359e624
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_10.obj
@@ -0,0 +1,1318 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c7301e8669a875914b60a4818df55207a54ade
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7ee634874f42f8f78bdbf790ac3ff96d80f983
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1905f2daad5808a68036ee51fde3e6b2a2952017
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4646d931f0f5bb9b2a241e78f9f7168ee0276ed4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f95b81e408927557548480dfd8e112c3ba7d6c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e23ec7cb971bfaa6d9e9b83f453d9282b976ff8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_16.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b310804366fcc5ed1933ff8aa442eedbea46445
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_17.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308550617e7f2f7e7c9d6d9e5227079d8f1309c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353770b828c0f35d48b677da949ad7457b9e20e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b766d9ccf239b613106fe5807723e3a03406444f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_2.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af4ad309d884948f7074c794bf1a39732b9ef946
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdec35e3f05fc690933492fda46577c09e1a7d4a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c2e9b757e2b2999b117ada61bcea53c836fb9ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_22.obj
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4407e65f7f4b9c1b4d85e02d206f7a651df58f3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_23.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02178157 -0.03449962 -0.02004643
+v -0.02178157 -0.02696552 -0.02639899
+v -0.02178157 -0.03449959 -0.02728333
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+v -0.01867526 -0.02857924 -0.03768958
+v -0.01747823 -0.02932564 -0.03768959
+v -0.01710190 -0.02954616 -0.03768959
+v -0.01610898 -0.03012440 -0.03768959
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30383e0fcbaf868280cae078646797518e1c8045
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_24.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00005873 -0.00001479 -0.03915208
+v -0.00005873 -0.00001480 -0.03462015
+v 0.00117432 -0.00001479 -0.03914658
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+v 0.00583774 -0.00001479 -0.03906046
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385f4aa8207a7ce05a09f17fae196f440e3c9631
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.02178157 -0.00001479 -0.03701581
+v -0.02178157 -0.00001481 -0.03215510
+v -0.02100126 -0.00001479 -0.03720365
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897c8158f33980e0a4e644f18e9ece899e45e59f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e7817bd0f9c3d3ed4b995a8902ad3576aedbab
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80498a024aaaa9b9e62caa8f31c6111a12c274c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32386544774950b8a8c095f2e530dd8fb9a459a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad40cc41478a99b73cb494e2de3b3e6ac7d42b7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f1edd5043b2dadf097c147182d8f6b0a08b415
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a878b86a3d0030cdc83d55cae97975d41014f50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b964eb47e5d270f3c72f67fd1c9aa229ba84dc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a80f41acefa2fed3292293079b670608a3d810
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3a25de18eff02a8d674310af97c4e42e129f16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d888199350d41e319adb90e732422efdae5aecc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_35.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c13562b7135be0c63f9842ef6da6fb7ac3e355e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_36.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.03428997 -0.00111184 -0.04529206
+v 0.03408418 -0.00344082 -0.04760405
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6989b808471329a11e218b870c482caa831a0b52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_37.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.04043166 -0.01912101 -0.02274649
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adf3b30407c54cfd0dca30376ee0c20dae66a64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_38.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49991f8221e6a40b1358a21cb5e3bcb689f7e4ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_39.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb99ff386bf855fcbb6f60e2b20f8b2e982b14d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_4.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a622851a47e45933d85791bfc242f08e39698173
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_40.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5eed0e0187717ad0735438baae5cf4b09fa0e63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_41.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_42.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08732d432a2bc1b62410681665beeabf078111a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_42.obj
@@ -0,0 +1,889 @@
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_43.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dea58e952e1016b4563327382affda0441f4a5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_43.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_44.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d298f50cd2d549c99f037b4fe34f42c11487dac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_44.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.02223375 -0.03233811 -0.02896708
+v -0.02178157 -0.02627767 -0.03701752
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_45.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b43d84e60b2f0124594fded1c1ebadb27e6d32d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_45.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_46.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe9639fb498d029898faa6af53c2c5a363a00b55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_46.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02615830 0.02184861 -0.03768941
+v -0.01949330 0.02184861 -0.03768941
+v -0.02626038 0.02173304 -0.03768941
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_47.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58e78d21264637a2a7f4d7cb7462a950287e664
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_47.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03865966 -0.02100523 -0.01639062
+v 0.02090072 -0.01866699 -0.03033414
+v 0.02090072 -0.02100518 -0.02966394
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+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_48.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c213ef1c85a8f299fa6e3367a9143395de5060
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_48.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.01949178 0.02184861 -0.03768941
+v -0.01961358 0.02184864 -0.04760378
+v -0.02615876 0.02184861 -0.03768941
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_49.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab13728580588d9e4ee1ae5d314ce72b4bfd64aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_49.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df91c4a9277c888d3c8b2192e6cef55c109d6208
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_5.obj
@@ -0,0 +1,1054 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_50.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab2b9205d88ca18074698b6dbddbfefbcfbd108
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_50.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_51.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0093a04bdf2247f19bf446fa66ca234d40950b3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_51.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_52.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a536f238e9b16b3a5c3c9451a4b0d4a74ef91ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_52.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_53.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b374e1b0f784e835f131de3ed297cd1cb817c70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_53.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_54.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb74596a774d71e23b0fd9f8b3c5570319a6676
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_54.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_55.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e9f65dd96de090d1cc139e993f94555cc6b96c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_55.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_56.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a056b17d2d80c1d95542add18dffd7d1fb50678d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_56.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_57.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f72465e18930d5d42dbfa5e48533abf546d9bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_57.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_58.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f69ef0fc8b316e5bbf04ba350e15442dabd60ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_58.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_59.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0953e77ef16cd531bdf154c4504b32368bec07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_59.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba7bee8a5c1fad2947c674f1aca29e6eb33804e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_6.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_60.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c901495754ea69e2a6e2e97b6e71832d4520e17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_60.obj
@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
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+f 201 230 210
+f 204 231 205
+f 205 231 232
+f 205 232 206
+f 206 233 234
+f 206 234 207
+f 207 234 208
+f 208 235 209
+f 208 234 236
+f 208 236 235
+f 209 235 230
+f 210 230 237
+f 210 237 211
+f 211 237 238
+f 211 238 212
+f 212 238 239
+f 212 239 240
+f 212 240 213
+f 213 241 215
+f 213 240 242
+f 213 242 241
+f 216 243 217
+f 217 243 244
+f 217 244 245
+f 217 245 221
+f 218 220 246
+f 218 246 225
+f 219 246 220
+f 219 224 247
+f 219 247 246
+f 221 248 249
+f 221 249 222
+f 221 245 248
+f 222 250 262
+f 222 262 251
+f 222 251 223
+f 222 249 250
+f 223 251 252
+f 223 252 253
+f 223 253 224
+f 224 253 254
+f 224 254 247
+f 225 246 226
+f 226 246 255
+f 226 255 234
+f 226 234 256
+f 226 256 228
+f 228 256 257
+f 228 257 258
+f 228 258 229
+f 230 235 237
+f 233 257 256
+f 233 256 234
+f 234 255 236
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+f 235 259 237
+f 236 255 247
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+f 239 253 240
+f 240 260 242
+f 240 253 252
+f 240 252 261
+f 240 261 260
+f 246 247 255
+f 251 262 252
+f 252 263 261
+f 252 262 263
+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_61.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc7063324b573f13589443278e7ff0712817574
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_61.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00006078 -0.03477056 -0.04772675
+v -0.00006078 -0.03477056 -0.03562493
+v -0.00006078 -0.03377056 -0.04772675
+v -0.00006078 -0.03377056 -0.03562493
+v 0.00317062 -0.03477056 -0.04772675
+v 0.00317062 -0.03477056 -0.03562493
+v 0.00317062 -0.03377056 -0.04772675
+v 0.00317062 -0.03377056 -0.03562493
+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/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_62.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff6f27d0e0fadb4ab8a2ed18c229ec2b0d5283ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_62.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00006078 -0.03419926 -0.03562375
+v 0.00317138 -0.03419926 -0.03562375
+v -0.00006078 -0.03434274 -0.03562375
+v -0.00006078 -0.03419929 -0.02666913
+v 0.01079838 -0.03936013 -0.02745944
+v 0.01049948 -0.03936013 -0.02755232
+v 0.00975603 -0.03936013 -0.02775068
+v 0.00888214 -0.03936013 -0.02798053
+v 0.00758394 -0.03936013 -0.02827336
+v 0.00696209 -0.03936013 -0.02839300
+v 0.00583742 -0.03936013 -0.02858349
+v 0.00487486 -0.03936012 -0.02870471
+v 0.00350574 -0.03936012 -0.02886687
+v 0.00230635 -0.03426848 -0.03562375
+v 0.00458102 -0.03419926 -0.03514673
+v 0.01287801 -0.03936013 -0.02679824
+v 0.01283115 -0.03936013 -0.02681398
+v 0.00025586 -0.03434274 -0.03562375
+v -0.00006078 -0.03936012 -0.02902587
+v -0.00006078 -0.03936015 -0.02179039
+v 0.01287801 -0.03936016 -0.01954072
+v 0.01287801 -0.03419930 -0.02452336
+v 0.00229495 -0.03936012 -0.02894872
+v 0.00173135 -0.03431445 -0.03562375
+v 0.00797404 -0.03419927 -0.03395342
+v 0.01283115 -0.03891504 -0.02728784
+v 0.01287801 -0.03893726 -0.02724691
+v 0.00117408 -0.03434224 -0.03562375
+v 0.00049522 -0.03936012 -0.02902272
+v 0.01287801 -0.03419927 -0.03204851
+v 0.00117408 -0.03936012 -0.02901800
+v 0.01260318 -0.03419927 -0.03216816
+v 0.01287801 -0.03663951 -0.02961465
+v 0.01287801 -0.03774191 -0.02848904
+v 0.01287801 -0.03776312 -0.02846699
+v 0.01287801 -0.03544364 -0.03081111
+f 1 2 14
+f 1 14 24
+f 1 24 28
+f 1 28 18
+f 1 18 3
+f 1 3 19
+f 1 19 20
+f 1 20 4
+f 1 4 22
+f 1 22 30
+f 1 30 32
+f 1 32 25
+f 1 25 15
+f 1 15 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 15 16
+f 2 16 17
+f 2 17 5
+f 3 18 19
+f 4 20 21
+f 4 21 22
+f 5 17 16
+f 5 16 21
+f 5 21 20
+f 5 20 19
+f 5 19 29
+f 5 29 31
+f 5 31 23
+f 5 23 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 13 23 24
+f 13 24 14
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 35
+f 16 35 34
+f 16 34 33
+f 16 33 36
+f 16 36 30
+f 16 30 22
+f 16 22 21
+f 18 28 19
+f 19 28 29
+f 23 31 28
+f 23 28 24
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 28 31 29
+f 30 36 32
+f 32 36 33
+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_63.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55571e2ea46069e172116b8e082208952245c970
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_63.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02178157 -0.02696460 -0.02639986
+v -0.02177731 -0.01764779 -0.03039957
+v -0.02178157 -0.01764779 -0.03046036
+v -0.02178157 -0.02696457 -0.03442700
+v -0.00006078 -0.02696459 -0.03062618
+v -0.00006078 -0.01764778 -0.03306092
+v -0.02178157 -0.01764777 -0.03619972
+v -0.02178157 -0.02626044 -0.03768958
+v -0.02090346 -0.02696456 -0.03768958
+v -0.00006078 -0.02696457 -0.03573999
+v -0.00006078 -0.01764776 -0.03766632
+v -0.02178157 -0.01963972 -0.03768955
+v -0.01048531 -0.01764776 -0.03726956
+v -0.01184180 -0.02696456 -0.03768958
+v -0.00006078 -0.02207586 -0.03681644
+v -0.00006078 -0.02053081 -0.03712701
+v -0.00088147 -0.01764776 -0.03766964
+v -0.01004307 -0.01764776 -0.03731045
+v -0.00834215 -0.01764776 -0.03744308
+v -0.00582266 -0.01764776 -0.03757570
+v -0.00553350 -0.01764776 -0.03758455
+v -0.00349026 -0.01764776 -0.03764201
+v -0.00321599 -0.01764776 -0.03764644
+v -0.00116000 -0.01764776 -0.03767075
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 24
+f 2 24 23
+f 2 23 22
+f 2 22 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 4 8 9
+f 5 10 15
+f 5 15 16
+f 5 16 11
+f 5 11 6
+f 7 13 12
+f 8 12 14
+f 8 14 9
+f 10 14 15
+f 11 16 14
+f 11 14 17
+f 12 13 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 14
+f 14 24 17
+f 14 16 15
+
diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342e8949d7b72351fab4526a6d45555873d3e1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_7.obj
@@ -0,0 +1,1411 @@
+# https://github.com/mikedh/trimesh
+v -0.05506624 -0.03450292 0.02129984
+v -0.05415073 -0.03598314 0.02129984
+v -0.04920584 -0.03450292 0.02129984
+v -0.05459318 -0.03450291 0.01954246
+v -0.05398934 -0.03546070 0.01946237
+v -0.05346340 -0.03698690 0.02117525
+v -0.05359140 -0.03683935 0.02129983
+v -0.02663799 -0.05385951 0.02129977
+v -0.02663799 -0.03450278 -0.01662837
+v -0.05401716 -0.03450290 0.01747810
+v -0.05375837 -0.03510516 0.01783847
+v -0.05321852 -0.03662408 0.01946237
+v -0.05256180 -0.03826879 0.02129983
+v -0.05334096 -0.03719974 0.02129983
+v -0.05192734 -0.03846953 0.01959584
+v -0.02663799 -0.05920961 0.02129975
+v -0.02663799 -0.03450275 -0.02415173
+v -0.05372776 -0.03450290 0.01651265
+v -0.05352462 -0.03473509 0.01629910
+v -0.05296251 -0.03594926 0.01709993
+v -0.05170194 -0.03777536 0.01714886
+v -0.05145428 -0.03975626 0.02129982
+v -0.05133740 -0.03960873 0.02045450
+v -0.05109809 -0.03930397 0.01891068
+v -0.02682444 -0.05912737 0.02129975
+v -0.02663799 -0.05875489 0.01949788
+v -0.02663799 -0.03579917 -0.02290599
+v -0.02775386 -0.03471559 -0.02315514
+v -0.02755629 -0.03450275 -0.02349771
+v -0.05359418 -0.03450290 0.01607665
+v -0.05338270 -0.03450290 0.01541818
+v -0.05173254 -0.03553567 0.01252185
+v -0.05204978 -0.03619596 0.01479087
+v -0.05144314 -0.03742948 0.01552940
+v -0.05081425 -0.03894116 0.01714886
+v -0.05084486 -0.04050122 0.02129982
+v -0.04913905 -0.04209027 0.02002294
+v -0.05011857 -0.04070921 0.01946681
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e7908952022b055201414fec40a8cd269508c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c18e41c71d4909b0878427913cd7ce14c07e6c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mjcf/mesh/bowl_collision_9.obj
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