diff --git a/.gitattributes b/.gitattributes
index fa0f2b4608daf4452fa450e7313ca9e342b6e829..5e60ed3ce8d83f938e163bb113b60d2f991169d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4766,10 +4766,6 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/coffee_cup_004.us
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.urdf b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a09b2e78a368ce14e6796a59ac4b0eb22c244a66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.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>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.183925</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>textured ceramic bowl with a circular base</description>
+         <min_height>0.080</min_height>
+         <max_height>0.120</max_height>
+         <real_height>0.100</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119135304</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.918017864227295</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.usd b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cadc88fa85fdade0bc4f8dbfa4baf807d2645a16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:988ae37c14fc31c9ec57250d4687390a6cbb86e3459b72bd94a9dee8f3217a77
+size 372972
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.glb b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c24cce2e0802f3cba5c3c794dc4c8e1a542000db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea6d0c9d9447a0c0bd7879fe883156c796e9fcca53e4652c881a5857ee2424f1
+size 2621616
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa5d0aa90bae6be8344a8dbf6da2a63b322aee1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.obj
@@ -0,0 +1,23159 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae36c5eb0a198987601e7a1e81bd61c49980414
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_collision.obj
@@ -0,0 +1,33600 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a719de6d415a3359137b1b0ffce67972421719a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14032c6eac1a54de1e1253a2d80d9c722ad40cf2937fbd84fbf4485a8c9217ad
+size 5069257
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/material.mtl b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/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/a326de7054ab548b913c265e82649d47/mesh/material_0.png b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11e5dab424d7d39aa907536b1c326e5ac0796eae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc54305bf23a0bcd4207251091add683fdee281cfa12e5a593c92d5adc6ab8a
+size 2367656
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/a326de7054ab548b913c265e82649d47.xml b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/a326de7054ab548b913c265e82649d47.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c4ac971a257c4443a388cf1420873b4c87045d01
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/a326de7054ab548b913c265e82649d47.xml
@@ -0,0 +1,118 @@
+<?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" />
+    <mesh name="collision_mesh_0_50" file="mesh/bowl_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/bowl_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bowl">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" 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/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1569c09d9a382d64051bd9d46f9a9d744d6bede
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl.obj
@@ -0,0 +1,23159 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.023235 -0.003862 -0.034811
+v -0.023305 -0.004536 -0.034337
+v -0.023551 -0.005165 -0.034269
+v 0.007780 0.009350 -0.049905
+v 0.013627 -0.014346 -0.049826
+v -0.000266 -0.002099 -0.049857
+v 0.016128 -0.000264 -0.049870
+v 0.018088 0.008839 -0.049888
+v 0.029103 -0.001262 -0.049839
+v 0.022953 -0.009833 -0.049839
+v 0.035482 -0.015651 -0.049766
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+v 0.029214 -0.028331 -0.049696
+v 0.020027 -0.033065 -0.049724
+v 0.035920 0.011679 -0.049798
+v 0.039255 -0.005563 -0.049753
+v 0.021733 0.016293 -0.049909
+v 0.033610 0.018941 -0.049826
+v 0.026280 0.027826 -0.049908
+v 0.014938 0.036551 -0.049928
+v 0.000310 0.022665 -0.049898
+v 0.003216 0.033627 -0.049897
+v 0.005887 0.039690 -0.049931
+v -0.005100 0.032658 -0.049884
+v -0.005031 0.039952 -0.049932
+v -0.014141 0.038031 -0.049878
+v 0.000937 -0.011188 -0.049816
+v -0.000362 -0.026273 -0.049762
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+v -0.024226 -0.014489 -0.049793
+v -0.025204 -0.002003 -0.049837
+v -0.031059 -0.016032 -0.049793
+v -0.020181 0.010434 -0.049860
+v -0.013088 -0.002837 -0.049829
+v -0.007688 0.014939 -0.049892
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+v -0.039183 0.010626 -0.049833
+v -0.039685 -0.006687 -0.049814
+v -0.032671 -0.023531 -0.049757
+v -0.020019 -0.034625 -0.049718
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f7511f6e24ec2a88ac6910a2780c29567b36da1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,33600 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619489c1e5167b21b87d030ca8fdb3ab403c9bae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..176440c13ee97a9539ca1919548f2859b76c7a33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_1.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bbd5940a791bb525c49e67534c08d526eb2e899
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_10.obj
@@ -0,0 +1,958 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a9aeaac3c323117a743fb54ce5d8d1b2219699
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fd1143d35ae7b4c43cdb5766d2ca0607ee7d4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9229faceeb5bc536811b6461165b0de140953e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba957ddfbf79f835355ef831c5ab0cef9099e6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911446b2cfb7cc734d0f4ea5fe66d32129b094b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5382f37e21ff9c84625d758c637ad1cc505b49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354708e54cc710fa2bf2572b0c4b5ca7b209baf0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11144e1e6fe4ca3562ef24f3552a95ba30c104f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d099f464599ff961433cb5fad3387afa06fef0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfc7e546621f57caf02e2de37bc034ecb2eb442
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08855278c1471e578df57beaa9741d59e4dd0e65
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f629393cf3454ba68d7bd490070aa4d4e928a039
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_21.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3d38878f61734ba329ff0d410f2a613e3bce75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ccf0664d718104453d8c80a6bfdeebd17409155
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb64d5bf139656fa46680a4fa004e206ac1bf640
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b21468112e0be34539386aad67267c3fd7ae7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0f045853cc5ceddcc96868aad4e31d382f684c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc3f6a210c7b97b649b426e65329f9bf9459afa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bdf8267bf128d9b536993f3f029eb5f924ef720
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88aeb831fbd39c0ec2a5d410bcb838016e25cba5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50ade9d92a682c5e90a472aa44a9999c456bc03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_3.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c05ecae9837c9e20edc86491b992d46d768abe8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c6b5fd91530715030836bca713bd0c989dedc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d2fc9472489fd7978d8abb65ce2f1fc26dc33d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e335134c2bb56cb9c80249cef2c5081065662c3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_33.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b41731db90a0829621998880de91e491115636
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c282c45ea419a53821a3b36fd2a7bf2e8a7fb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d91192900908ee42001bae1d933f5c0891db57a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5664f36492b8cdd861e5d223d4617f32683b1306
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_37.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a3391b33ba2c9690f5dd2e272fe9b505687953
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_38.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2e835bc4906d5df2ca10201f5fac2f553aafe0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_39.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f6283f6723183a1296721d5554bafbf7726d64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_4.obj
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+
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0613be446fbb231ade5bfd7b799b1b6a3e7c54b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00016814 0.01749369 -0.03013325
+v -0.01352342 0.01204054 -0.03013327
+v -0.00016814 0.02726852 -0.03013321
+v -0.00016814 0.02726850 -0.02577057
+v -0.01352342 0.02726253 -0.02376296
+v -0.01352342 0.02726852 -0.03013321
+v -0.01351558 0.02726850 -0.02376232
+v -0.01352342 0.02726850 -0.02379538
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 3 7 4
+f 4 7 5
+f 5 7 8
+
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2979ce05efb6864d16b9be163fa82b64f66aa36
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_41.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03745380 0.00012337 -0.01816914
+v 0.02794709 0.00012339 -0.02512898
+v 0.03745380 0.00012339 -0.02512898
+v 0.03745380 0.01898387 -0.01423650
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+v 0.03607431 0.01815859 -0.02512891
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+v 0.03717210 0.01813459 -0.02448271
+f 1 2 3
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+f 9 15 14
+f 11 12 15
+f 11 15 13
+f 12 14 15
+
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_42.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd38f0038a59d8efcf043c0678142b0b7d981f6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_42.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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+v -0.00016814 0.03993202 -0.02544907
+v -0.00016814 0.02835397 -0.02512888
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+
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_43.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4109856ed5dbd984d1d514c81b99e204f7a6fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_43.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_44.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc6887cea737b1e063aedea7e56369365e39c30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_44.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_45.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d54e63fa2eb319100844e38327ddb496d2e2cac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_45.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.01352516 0.01204015 -0.03013327
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_46.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d1a69c8c982bab11f84d77a333d1f877f4f09d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_46.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_47.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278a9e344cbc4e765bd0807b36a6e7712e28db63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_47.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_48.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc974ced35f532c4e7b09fb18e6b2dd70bb215cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_48.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_49.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8001e806dfa2ec040cbb043a6f798159f23edf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_49.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7d9419dda7b63a4e61a6a8fc0e4688e552cdb7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_50.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d00af79a6442d306f0b51452c29352522db000
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_50.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_51.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55cf16f8328c831a7513782482b1ac234137aaf2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_51.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e869e57f14c764ee858d27a5f99bff738a2ee5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3898f1619cf57d827560ac97c802f330e0f96de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f61248d7468becb146755698b30deb82c24fac3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b607541f03f8ab02a8d47b90cd76e5e1ce81f20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mjcf/mesh/bowl_collision_9.obj
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