diff --git a/.gitattributes b/.gitattributes
index 4ed8f0f989a9fcf23e28935dd6572d033f4675fc..3c7a082a7b686de286f5ca3007cc9853d5b165ee 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4715,3 +4715,6 @@ dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb
 dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.urdf b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83bbeba1566213861ec16c05d340b58ebc34f9d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.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>0.193915</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>matte black bowl with a wide top and tapered 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>20260119135759</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.304447650909424</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.usd b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.usd
new file mode 100644
index 0000000000000000000000000000000000000000..defd4966c68a8bde553356367a12dc75eefa9bbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620ef4922a05cc4e21294d959900aaf599ec2044a9993ca98b00566acc8e9ff7
+size 881807
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.glb b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d971fbeeacb311ee20c19caf7fe51bbcdcfecb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22edd977fe0043c0d8d286c38fd94e3c31135304cda04c56b2c151fe4b676c63
+size 1025840
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5fb03f82706427d4ab0d7f39977fc6d35a48bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.obj
@@ -0,0 +1,52916 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c0120e2c43ab30e9870e705ea4db827b23211a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_collision.obj
@@ -0,0 +1,24946 @@
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..39716edae261a2e51027e28594f424687ed78487
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c7875c0cbd2d00f4af67928f9cda493dfcd85c45116e38fa041616ec9e9e9a
+size 3897513
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/material.mtl b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/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/63a01f8c0e2c5431add57b070a9539c8/mesh/material_0.png b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3cd94881394f8dd3f45deb4d39bc8529723542e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e669ac57d500bed902bc46158dd6b1f42f90e7185c368e0183a1a8a1d6d5f067
+size 444715
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/63a01f8c0e2c5431add57b070a9539c8.xml b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/63a01f8c0e2c5431add57b070a9539c8.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f414f3cb70f67e4fec9c01423288cfe1b6f56624
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/63a01f8c0e2c5431add57b070a9539c8.xml
@@ -0,0 +1,114 @@
+<?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" />
+    <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" />
+  </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" />
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+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" 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/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c64930556499e66544d9ce8091bf172f61c4a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl.obj
@@ -0,0 +1,52916 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.054124 -0.003270 0.002937
+v -0.054948 -0.000365 0.005199
+v -0.054075 0.000045 0.002695
+v -0.055045 -0.004636 0.005605
+v -0.052433 -0.004024 -0.001607
+v -0.053191 -0.005527 0.000514
+v -0.053080 -0.003011 0.000040
+v -0.052471 -0.007373 -0.001183
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+v -0.053302 -0.014597 0.002197
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+v -0.052184 -0.019933 0.000019
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+v -0.048871 -0.010941 -0.010346
+v -0.048194 -0.014423 -0.011548
+v -0.048255 -0.010930 -0.011900
+v -0.046389 -0.014582 -0.015926
+v -0.047413 -0.010705 -0.013968
+v -0.046205 -0.010379 -0.016978
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04855f66d4c13eea4f6e70f70df71441995e259
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,24946 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac31bcc7f840797d4869cddf3c1326d63ebc4b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7381b3c3d89de4e06ae9cb8b63d0c0000e76b15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9965352257a21d5f0114074a447e01236903ccf4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc8e2a11cbb389fd8c63e91f487930bcf14a994
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb54cab3e05fc94c01ef53e112155dfb61c28f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a23c516d571a6996a7a110570d14c090b3c4fa1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_13.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6997ceef0afb1dd756ef6500c8d7cf29b2876c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_14.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f3f25434b74b91d22dcbcdf6261b0aef18e4d3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee3719ca592bf68ab966bda5e6878ad5826ab1bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..491e3f7873c283e9de5d856273d2ab62140e265a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_17.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d620ba40146c7f80d01680d047b71f70507e6e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_18.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c08abf52d4fa3982b8682023a206bebd62dc158
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5b7f67150105bd6b2347b432c061edd8a0b0f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8953255e288976d541f618b9d6adc0bc872fba97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e88894be8553fb77c9767c00d53b58e17c8722
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_21.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e11ba253b9650bdfba42ac8b7272c821216c1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd880a1add173aa9e40bd12bafc30347823709f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_23.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ecdf4b882101aea2a26d0f25c131b8b57ac07dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_24.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126cebbf70507c7d9672dafa5f245336b09c055a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,679 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d076474aaa23a9117f2cbeab29dcdac88de706
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9d79ede361320ca07a8422f317d5e1a54cbd8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01890178 0.03704596 -0.03693524
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b482ef1d5b892dcfe6b62fc0af13d8457f0f7f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_28.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e03bb2aa0afeffc888fe2dcccceff1e3ad657268
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_29.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd28d82835d1aff78e8f31c4bbc9da7c86d1768e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_3.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.02275238 0.00082965 -0.05093363
+v -0.02275238 -0.00142835 -0.05093619
+v -0.02275238 0.00082963 -0.04517587
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+v 0.01021839 -0.02786172 -0.04227326
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+v -0.02275238 -0.00656224 -0.05093790
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+v -0.01404495 0.00082963 -0.04517246
+v -0.02275238 -0.02786170 -0.05028443
+v 0.01021839 -0.02786170 -0.04999424
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e71124748491584a58c9fd4be90e2a4b0cf1b43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03128007 0.02823274 -0.04467232
+v -0.03128007 0.02823271 -0.03648618
+v -0.02542774 0.02823274 -0.04467232
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+v -0.02571656 0.00083230 -0.04467242
+f 1 2 6
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+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 4 8 7
+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152634f9d7a886e8128e05e7e263d6c8ba45ad7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_31.obj
@@ -0,0 +1,877 @@
+# https://github.com/mikedh/trimesh
+v -0.02459163 0.03464935 -0.04738050
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793cde3f3e364a1d6fefee84055691d7331722fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_32.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccf23cd051e1fd951dafa8a4f732131914e18ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_33.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95ad25a18ab2c61222aecbeed78ea7926cb99d90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_34.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v -0.04609770 -0.02577672 -0.01628671
+v -0.04597564 -0.02668280 -0.01628672
+v -0.04049885 -0.02577672 -0.01628671
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016ece1f70ca2618c274006c8e681f7245eaa195
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008e6c4d6321d28f1e1d77aea3e636591d3111b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_36.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02209084 0.00082962 -0.04349264
+v 0.03038231 0.00082958 -0.03157171
+v 0.02888110 0.00082962 -0.04349264
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9224f719ab83c357c73a659d0dbc5020a56a2f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_37.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.03654210 0.03464927 -0.02417942
+v -0.02459515 0.04825927 -0.01122466
+v -0.03654210 0.04598189 -0.01122467
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b32c517f701bf68c5dd0ee69667b12afd5a91b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_38.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01021839 -0.02454803 -0.05092521
+v 0.01160470 -0.02454803 -0.05091879
+v 0.01021839 -0.02709675 -0.05045932
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+f 38 40 39
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+f 41 48 42
+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a2eba35a5c876ac7b0779f80a5045fd19bb75e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_39.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03038231 -0.03556602 -0.02563389
+v 0.03038231 -0.02454811 -0.02952608
+v 0.02266422 -0.03556600 -0.02909312
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373becc10ab360a51319cf5c8c1b6b3e229af692
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02429844 -0.00399530 -0.05093792
+v -0.02654956 0.00082965 -0.05089534
+v -0.02429844 -0.00142835 -0.05093574
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+v -0.02686094 0.00082965 -0.05088878
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+v -0.02429844 -0.01939415 -0.05091505
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+v -0.02429844 -0.02196109 -0.05090634
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7f0210da766c6d7042f67896de27517b01b63da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_40.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.06604768 -0.04019645 0.04653854
+v -0.06548054 -0.04249993 0.04641620
+v -0.06489118 -0.04506714 0.04641619
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..befe4b386998c311e5e4a259952349339bef42c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_42.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05275cb5033bfbc899abcbda3e42abeba228fad0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_43.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c67ca1af3cb3d41f59b2c88b81cd635153bdda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/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/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_44.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba6aa5c994458bbe9f38577b054df9bbe20364a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_44.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_45.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad7da9872e7771456ef7970b24e713c1b09f0b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_45.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_46.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a502033011d15dde30744ff727f0a78274e15230
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_46.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_47.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e612e7f45a1f0e14b51514a8c2a0e0b354217e33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_47.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_48.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056741e8b50ba2cbef232d3d7beb0e291e0b4f35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_48.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.04332631 -0.05394194 0.00842724
+v -0.03729112 -0.05394193 0.00497443
+v -0.04332631 -0.04019493 -0.00321308
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+
diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_49.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8706e76568daae9aafd236fdfced7611613d99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_49.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82480a142ac53c45fb80775fdabd86c85f66fe72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adeeeea179d29d9f1ebfa54c50465cb8fdf43fc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b957b8eda393743bea0e36af7a60f8a6b3cbc2c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5056fe48af426eb8427660b2f1ccb9e50f132b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5f0c14be0dc2e290848b1ebab5665fb938ab1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mjcf/mesh/bowl_collision_9.obj
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