diff --git a/.gitattributes b/.gitattributes
index 4f8ce511534cfed5ee2926bef58205147c476de5..05ee4452d8f530db4b236fa111fe857a0ce877c6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4776,3 +4776,6 @@ dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/mesh/thermos_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/thermos_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.urdf b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e419a05ae3265ecde739652a3e75523a7fe971d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.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>0.235132</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>green decorative bowl with intricate patterns</description>
+         <min_height>0.064</min_height>
+         <max_height>0.096</max_height>
+         <real_height>0.080</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260119133534</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.006810188293457</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.usd b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b07e91c80b1143e7abfaf3eb8fbd3b139368eed4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa8b474e390bde67bc882f5436f56c87aa95770086f38e43df4d47a9cda1cf2
+size 658465
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.glb b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef1877bfe7127aa7d7216f3e01f80db6a8f4a1af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1fd230103a7d6d085f9b4f3848a773df4274f8391029ebc4a9f00a3e00d69c8
+size 3147216
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e2a34c8a53b084521ef673b266a1db5eadd0272
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.obj
@@ -0,0 +1,39991 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ec5b84718102e70aa3c0741af203c3f5f1e19f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0f0b10681ce410475a56e15cc49f417686fd6953
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547f7be280bd4f8f18195057043d0002ab21efa8b389c347a91fa829979af8e9
+size 3280169
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/material.mtl b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/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/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/material_0.png b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8eddc086feaa5f4930855cf1b8c58d638231579d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab35f9c9a8cf442410c9962c4a38f6161a773a491353667a7426d0efc37282cf
+size 2708085
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/b3f89ee55ffe5bf0960ca8b3544a6f85.xml b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/b3f89ee55ffe5bf0960ca8b3544a6f85.xml
new file mode 100644
index 0000000000000000000000000000000000000000..04e6eee9d75bef8a762debe3140e8c4dec64400e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/b3f89ee55ffe5bf0960ca8b3544a6f85.xml
@@ -0,0 +1,108 @@
+<?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" />
+    <mesh name="collision_mesh_0_46" file="mesh/bowl_collision_46.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" />
+      <geom type="mesh" mesh="collision_mesh_0_46" 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/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd02067bdf4805d61c7d222f4925f8626393f471
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl.obj
@@ -0,0 +1,39991 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.021795 -0.011408 -0.034533
+v 0.022735 -0.010515 -0.035108
+v 0.022364 -0.010652 -0.034750
+v 0.000912 0.004606 -0.032456
+v 0.000883 -0.001025 -0.032468
+v 0.001774 -0.000551 -0.032465
+v 0.001654 0.004657 -0.032446
+v 0.003227 0.000268 -0.032351
+v 0.001851 -0.002098 -0.032492
+v 0.004577 -0.001938 -0.032504
+v 0.004561 -0.000944 -0.032464
+v 0.001718 -0.004603 -0.032471
+v 0.001128 -0.004661 -0.032474
+v 0.004381 0.000293 -0.032351
+v 0.003278 0.004202 -0.032224
+v 0.007410 0.000871 -0.032155
+v 0.007634 0.006388 -0.032011
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6443608cc3825ee37c95d8f810ab02f97b72a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,30580 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae20f3783c01d33a4b36c2948390705cef31aca2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed99a02088738903c748591ba0b541690bfc7618
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_1.obj
@@ -0,0 +1,1036 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c886f2db38fb67c8ae684b145d8d61322554b9f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6068a234c494c234d2f3430efbcd7a44686141
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0f6fc33f63903a3077dce6a5dd8ef92a271b4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e4b03ca37d7ab06bc469a39f9329482881da420
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674d1e6e0cd3842be3448f8d7e9625627a1dbbe0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f23a9776e11bd3a4cfeb007843e3f2f55399332
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c7ffa932be21291c5d8be6a061e97763798570a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f697982de803312ba6fa61e7c5ba8c2c396bb63b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915181ff3b7cff0c371806b5d2ba121bcccf1cf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c15fca7e4c2616327123671f0c36ab1d2fd72a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d12b04f912834ac7d5cb5894613293c57982600
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56b24d9d1f8ec2ccbecc12de11ad55b0188cb9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6c7085f007fb2a4a1184dcdfa877cdb9eaa06e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5166027ab6c4a5a4b59f04922adf30f64c15fd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_22.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de0b7b9f8243811aac99022577ab695788cf602
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_23.obj
@@ -0,0 +1,619 @@
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4416dca05a2d3561ff6874ed141ce48c2581b1db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815f9db2d2407c3e3e47aaf633d93eda84123eaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8b68b3721aa3fdccdfa871fa1889a506145c90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71bddee268ff12dbd5ab82a31c5b192abce2d42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_27.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8860eb0a51626aeb4c1ebc49702519d0b2801f8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_28.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6cac237c2bf510d5a15b2b10a204adc58be0ba0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_29.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d97b4f5a043aca830f81e93ef38b87e4ffb52ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_3.obj
@@ -0,0 +1,985 @@
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33842a1ffe77d9b7e63aa3d4555ac799ed588848
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c81bfb59cb1506030e7a5f354828dfc42e63586
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc03a5444ed678165b9e6ebdf58c6f77cb113547
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd08b530282966ea62f13fc73aef6294a392607
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7db3809aae2accca1d13835d5b8afc0ddd40e52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_34.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233f5b444e1e2960a4b787130ea07a17dc9da925
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_35.obj
@@ -0,0 +1,1285 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095d659e34944b89f52161ae1c4c7f4fe7c7e2c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ab3500ec84c5f261cb456eddaf1171e860a808
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_37.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.01341206 0.03835222 -0.03387216
+v -0.01054304 0.03835223 -0.03419732
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+v -0.00424268 0.03835223 -0.03462151
+v -0.00736730 0.03835223 -0.03446636
+v -0.00469635 0.03835223 -0.03460665
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+f 18 37 19
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+f 52 54 57
+f 52 57 58
+f 52 58 56
+
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8732de51b364c243b78cb3ccb4d860c66480036d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_38.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00004489 0.03466443 -0.03730699
+v 0.00004489 0.03398123 -0.03813986
+v 0.00004489 0.03466439 -0.02836265
+v 0.00150358 0.03466443 -0.03729148
+v 0.00004489 0.03338965 -0.03885639
+v 0.00150358 0.03338644 -0.03884864
+v 0.00004489 0.01824184 -0.02913354
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+v 0.00460329 0.03466443 -0.03684945
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+v 0.00460329 0.03168568 -0.03993741
+v 0.00004489 0.01824186 -0.03466888
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+v 0.03272458 0.03466441 -0.03146766
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+v 0.03272458 0.01824186 -0.03407642
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+v 0.02474019 0.01855695 -0.03952955
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+v 0.03272458 0.02320752 -0.03350100
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+f 42 51 52
+f 42 52 43
+
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5d4feecf920455771aae4ba23ffcc2f3f731db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_39.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03259430 0.02004608 -0.03390320
+v -0.03030674 0.00459077 -0.03872954
+v -0.03259430 0.01087322 -0.03523794
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+v -0.02825880 0.01079485 -0.03973152
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+v -0.02641854 0.01375189 -0.03981629
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+v -0.03259430 0.00148676 -0.03609096
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+v -0.02875721 0.00459078 -0.03993322
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+v -0.03259430 0.00002882 -0.03608968
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+v -0.02638020 0.00769282 -0.04003212
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+v -0.02013415 0.02004611 -0.03988692
+v -0.02638020 0.00002884 -0.03999876
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+f 16 34 20
+f 16 20 19
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+f 16 18 17
+f 21 35 22
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+f 31 39 37
+f 33 40 39
+f 33 39 41
+f 34 42 39
+f 37 40 38
+f 37 39 40
+f 39 42 41
+
diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..422107f34ed4c5aa3675b5256b301b5abf4181e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_4.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
+v 0.06449948 -0.03336980 -0.01318006
+v 0.06334528 -0.03336980 -0.01451398
+v 0.06143282 -0.03336980 -0.01317810
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a400b6bf24773b78eee01f4f020d9a3a708fd15b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..964882393a2ab43b44370643d7b9fa54dd394f43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_42.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef09c09b2dbdb3e107e20e8923ff2eef8fd38d62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_43.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c499843c3a0c86f7a186daf0c0cec974f39f9aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_44.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa9da5e2b172603e99ed099760602cbabbc5d69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_44.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_45.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1722ab593cb975c07bba3ca199373d57de998ef6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/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/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_46.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72b3d76d2ad3705bf8ccfce32c4ee15fe565be19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_46.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791e4200636918dc732b3775e7741bdcf72fc4ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..319500dd928a0b6c7c9160658793f4092116751e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592638ef974a9be1611b9c87c984309ee096636b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f05d90778d93202858dd71735b499f8b433fd94b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c8a330034fe0b7a16efb9d610023f7b55cfe53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mjcf/mesh/bowl_collision_9.obj
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