diff --git a/.gitattributes b/.gitattributes
index 6ffeb241a4fc442b0bd0fba6a4284c593e2ecc98..a31f63172b6596433aea78e79537fa5a53e4f9ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4618,3 +4618,6 @@ dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/spatula_016.u
 dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.urdf b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..27be7f891398c598139268152fedc7d3af2fe6f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.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>0.224304</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>cracked ceramic bowl with a rounded base and weathered rim</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>20260119134906</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.188713550567627</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.usd b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.usd
new file mode 100644
index 0000000000000000000000000000000000000000..479e89fe605b32122708efb750cf4da7201c0f01
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/01756aff57e25ac29f0aa75e171ab6ab.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f601759216871a29f38d2ff6aa4a48451325ea91f0add728c8bf249c56423e6
+size 279901
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.glb b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..04a666e58539c1ac013d67c05b4c7718060e501a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4441f7f210eb2adac093c80b6d29e2aa64523a9a537952df973e92bd85e7cc12
+size 1994960
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63922bbc5291845c69ec52fdc9d2b77363a59365
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl.obj
@@ -0,0 +1,16872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ae224f8c96c52849dc366540172ccafaad435a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6dfc9e340e4f4dd5859491db7cc2113480d44100
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:106aba7bbe265b4850fdb07a22a62d83f2cfdbdba2805b79c1761210dbb08da1
+size 4188489
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/material.mtl b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/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/01756aff57e25ac29f0aa75e171ab6ab/mesh/material_0.png b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd882c82e0dec396446deb8b415eb4502688e872
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aed3d67875bcd0c6513ce43bfa9edfe8380e22a6a22f7e23ab4ce21f4c21be9
+size 1808934
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/01756aff57e25ac29f0aa75e171ab6ab.xml b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/01756aff57e25ac29f0aa75e171ab6ab.xml
new file mode 100644
index 0000000000000000000000000000000000000000..093d513092e7ff8488d512a91420c43a794c0b96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/01756aff57e25ac29f0aa75e171ab6ab.xml
@@ -0,0 +1,98 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8049d840f86676aa06d57d365410e90173952d6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl.obj
@@ -0,0 +1,16872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.002934 0.004088 -0.046198
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e80ac2189b0dd51a75461120a84c2dba7eca335
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,20705 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c67e3b0b8cd8e5b01c0250a04b972200f26db9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c9aa002347cf4a75df8c6bc31eafa3774b2753
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_1.obj
@@ -0,0 +1,1009 @@
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fb5cbd73dce65a59a414ba5c0f7bd3bdf58350
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264f70367c57c2bcb633bb644178bf0932fb4f50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bcee5ea29b86505389718c4227ac229c504ed5d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56be4632d787b31ed01a2d058e8502203ee59f6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_13.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd73a2da5abd92c17adf7897447adaa5327dc52b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_14.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342143b09741a6347344f9dfdbfb8e7bbbbee459
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a2179c0edbae965a60da9f387aad673975d542
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5d4875adb66fcb88a48a24d26440ac28af91af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebf70188ae81bca06ce6837f9f3cb0275c1f307
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5691149e20effe46d1bf54cb95a1cb0dbbebb1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5513b9d830f88a38502bee8845a8222adcb8d4a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_2.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68562a23611036014b037a721e9b9e007c50eb8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdfbabcc744db485f3901595be13ae06f0106d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_21.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9211297421ad6066b1db13e08dec39ce45d3a52d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_22.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99227b039ba298a35ffbb2f47d0a16bf74e225b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74617c02c91ff4ed5e91406840711342de36e62b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_24.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17e9c8107d5bf2d9829e5a2b7ae68b5091a7989
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,619 @@
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01232742f35e21f2acc95a599715c6f27e1df91d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.04212535 -0.02501131 -0.01831243
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccda084ad70ce8586184d10d9e221f248df92e2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_27.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f141b8ca0e7dcbe87ef1981bb97f11ffa9f9ce1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_28.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.03055398 0.00126121 -0.03779145
+v -0.03118987 -0.02954410 -0.03861121
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097f3e9c0908115818dc5c74dd0a34c4c5e1d695
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e86e694e4f0f33b6eaabbecc3eeb3b12585f8b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8baa8417bada2f00ab57557a3636f61e6630539
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_30.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4585634ac8f64fae08d0149663d22ca48328e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_31.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111a124ded4c3ed583877decb61b301e95db4cd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529e0b1d31ac1c4bbc726c5d79c3970f582168b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91ea8e210c2f8025d31b3536805f7f3e4801800
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_34.obj
@@ -0,0 +1,220 @@
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace8781a09e6dfc782c8957841683f6b182297aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_35.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02047349 0.03051376 -0.04937323
+v 0.02047349 0.03071336 -0.04936967
+v 0.02201285 0.03073269 -0.04936491
+v 0.02203046 0.03051376 -0.04936848
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+v 0.02223586 0.03051376 -0.04936729
+v 0.02086755 0.03245787 -0.04926030
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+v 0.02047349 0.03299656 -0.04890847
+v 0.02047349 0.03381494 -0.04777214
+v 0.02201285 0.03290607 -0.04748330
+v 0.02374169 0.03239225 -0.04632438
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+v 0.02582770 0.03051375 -0.04534376
+v 0.02844778 0.03115876 -0.03723134
+v 0.02146870 0.03702284 -0.03723131
+v 0.02047349 0.03516095 -0.04533424
+v 0.02047349 0.03512711 -0.04540674
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+v 0.02483583 0.03051375 -0.04730026
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+v 0.02244380 0.03641164 -0.03723132
+v 0.02540513 0.03391780 -0.03723133
+v 0.02553509 0.03380454 -0.03723133
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+f 1 19 10
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33146b69eba0b07ff955e0374ad82f16acd2a3ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_36.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03368423 0.03051366 -0.02237447
+v 0.03368423 0.04561720 -0.01055566
+v 0.02047349 0.03051368 -0.02736727
+v 0.03368423 0.03051371 -0.03509671
+v 0.02047349 0.04561723 -0.01981272
+v 0.03368423 0.04561727 -0.02920817
+v 0.02047349 0.03051372 -0.03723015
+v 0.02903881 0.03051372 -0.03723015
+v 0.03368423 0.03348091 -0.03403913
+v 0.02047349 0.04561728 -0.03338886
+v 0.03368423 0.04556996 -0.02923429
+v 0.03280740 0.04561727 -0.02954242
+v 0.02047349 0.03757024 -0.03723012
+v 0.02844779 0.03115979 -0.03723015
+v 0.03368423 0.03943747 -0.03189262
+v 0.03368423 0.03868642 -0.03216942
+v 0.03368423 0.03697737 -0.03278830
+v 0.02225174 0.04561728 -0.03296584
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+v 0.03113520 0.04561727 -0.03017436
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+v 0.03254874 0.04120862 -0.03167326
+v 0.03368423 0.04045906 -0.03150091
+v 0.02496372 0.04561728 -0.03221901
+v 0.02492363 0.04245493 -0.03373879
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+v 0.02517582 0.04561728 -0.03215633
+v 0.02666696 0.04561728 -0.03171241
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+f 35 38 39
+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e668a17da3de4643caac57aef4e5343700af1977
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_37.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04378394 0.00125580 -0.03861072
+v -0.04730970 0.00125579 -0.03584796
+v -0.03118814 0.00125580 -0.03861072
+v -0.04368610 -0.00139105 -0.03861073
+v -0.04730970 -0.00160306 -0.03584368
+v -0.04730970 0.00125574 -0.02278218
+v -0.03118814 0.00125577 -0.02970302
+v -0.03118814 -0.02954277 -0.03861083
+v -0.04367662 -0.00157093 -0.03861073
+v -0.04730970 -0.00463538 -0.03567866
+v -0.04730970 -0.02607368 -0.01671664
+v -0.04376816 -0.03104295 -0.01671665
+v -0.04341306 -0.03156011 -0.01671666
+v -0.03118814 -0.03156008 -0.02451841
+v -0.03118814 -0.03156003 -0.03724125
+v -0.03119129 -0.03156003 -0.03724125
+v -0.03398474 -0.03156004 -0.03621674
+v -0.03726587 -0.03156004 -0.03499718
+v -0.03832960 -0.03156004 -0.03458780
+v -0.03128441 -0.02946568 -0.03861083
+v -0.04365926 -0.00174760 -0.03861073
+v -0.04730970 -0.00759703 -0.03542789
+v -0.04335782 -0.00463537 -0.03861074
+v -0.04730970 -0.03156011 -0.01671666
+v -0.03937596 -0.03156004 -0.03414842
+v -0.03983838 -0.03156005 -0.03394694
+v -0.03408733 -0.02611536 -0.03861082
+v -0.04328522 -0.00526817 -0.03861074
+v -0.04730970 -0.00865063 -0.03532073
+v -0.04730970 -0.03156006 -0.03021968
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+v -0.04730970 -0.01297104 -0.03481707
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+v -0.04730970 -0.02968414 -0.03092912
+v -0.04730970 -0.02758014 -0.03170928
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+v -0.03957324 -0.01715332 -0.03861078
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+v -0.04075217 -0.01434585 -0.03861077
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+v -0.04680466 -0.02909308 -0.03143709
+v -0.04730970 -0.02883611 -0.03124633
+v -0.04730970 -0.02230570 -0.03309171
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+f 1 6 7
+f 1 7 3
+f 1 3 8
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+f 1 20 27
+f 1 27 32
+f 1 32 40
+f 1 40 54
+f 1 54 56
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+f 1 43 35
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+
diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4150e1e3c4d83b0758f83078c192c88e441749e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_38.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.03055398 0.03337512 -0.03779017
+v -0.03055398 0.02571276 -0.03779020
+v -0.03297750 0.03092212 -0.03779018
+v -0.03989836 0.04273773 -0.02947098
+v -0.03891738 0.04469264 -0.02902571
+v -0.03683457 0.04568882 -0.02938329
+v -0.03578159 0.04744525 -0.02891728
+v -0.03397391 0.04807067 -0.02925640
+v -0.03124439 0.04892081 -0.02972472
+v -0.03055398 0.04883466 -0.02998542
+v -0.03055398 0.02571272 -0.02721015
+v -0.03659929 0.02571276 -0.03779020
+v -0.03549102 0.02793732 -0.03779019
+v -0.04262402 0.03661831 -0.03076756
+v -0.04281816 0.03970797 -0.02940407
+v -0.04181146 0.04174154 -0.02900727
+v -0.04089091 0.04371517 -0.02852278
+v -0.03989836 0.04568881 -0.02792294
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113ebd712a203fd51fe6a36941ae1bd977283d67
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_39.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1490f7f84c58a532be604f272510869366012ff0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_4.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c032a7ee2581982c169f9c63df150636e47bd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_40.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6ce0e69cc6aab1cbecda13c0d7af8defdb5f8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_41.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7d790dce46b91a31f1afb88c76b5395a997a47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36aac61b7d3ddb9eb4e4e719dde9b9d4801e0809
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_6.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb224a245f3afd93e2d6eabbbefaa8e5d6379c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033d222ac96e66d60eb1a9c1bc24a57107768fdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5826499261505cbb5b2c421d701c24ae4cafade6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/mjcf/mesh/bowl_collision_9.obj
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