diff --git a/.gitattributes b/.gitattributes
index 2df5b6508d0ca3f8db2f30d1f8d02b33ccf9e014..57280c2f9740c5b9bc4236fed34e3f244adafaef 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4780,5 +4780,6 @@ dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mesh/mug_011.glb
 dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mug_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.urdf b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21188b039d470a2bfd3d3034527da670253e1468
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.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>0.60</mu1>
+            <mu2>0.50</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>0.195172</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>ceramic bowl with blue floral patterns</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>20260119140144</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.9258904457092285</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/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.usd b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f1ab32b5056ba58e405293d2afd4c3ceae0fbc5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896125337cb21049c97c961f5692bfd3475edfe337411989ad5aba471f974590
+size 648868
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.glb b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aaabc2418050d440481ce3c4fd6f01fd0ad8a3f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1693009c88a8921c9ae848de1da9be08623841e650a47ecfe797b9d32e9cd469
+size 2933352
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cdf3dd2091457bbcb013a6c00bb8252c1bfe3a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.obj
@@ -0,0 +1,39328 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a46b4dbdcb12ec8c07106b7ad12d13ab52bef0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_collision.obj
@@ -0,0 +1,25539 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fb75a9fb5423afb3bddd4cddda2c378d360f806b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc12288cf3a98feb17cee1d4edd40d054d91a74d6987faa128d8177a5d156e4
+size 4072457
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/material.mtl b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/material_0.png b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2d92e43947903976a81dcd2b63b09edaed6453d0d1141b0eba339d28b5da0b76
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/b7d4785808a05fb0b72d3fadab562480.xml b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/b7d4785808a05fb0b72d3fadab562480.xml
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5efa61b5834175ff1e0f4fb2cfdc57f3356f38f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl.obj
@@ -0,0 +1,39328 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d7ef82727ad7e22d9559cb9378591ad76be15a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,25539 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9d02c65ed135506777dc35e5a53311eb367b1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02603668abed4eff660783273d2652a32e269676
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a88ab7d3cfe587568907892d44eeb7a971137b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a31eed94dc9f28b5f901853b1490d6d936e849
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_11.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79d917f719a3b7e9a113b5d1c9827658ec936e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_12.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b778c51e2e05e00bc35e7841e0b5c55bfde763e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_13.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v -0.01945850 -0.01588628 -0.03066756
+v 0.00069339 -0.01588624 -0.04082084
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a29c9ec15087f69536dd3a4de9f94baa1a11109
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_14.obj
@@ -0,0 +1,886 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f56148c70ddc5d0c7f0adb99974073d810b6cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eec98d93c6b29bd16e5d1edbddb203895db2b11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_16.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adbbcadaaed7e1cd3889d0ba2ee638d230ef3da8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_17.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4190a43e2314409ac317ab2fa4cfa7b9a95d154b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2cde8b91a1da4b7010b68e1b9a6441a206407f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..750ecbb39ebe90215c84bda17b79a953d4388724
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1009012b084fbd24d78250fb59ade2bfb4329de8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e0713f2e84d896fae0db1c839c2c3c1d37c4e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_21.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..566e41e5541287e2e6fe1a072e3c00aaf5c4879e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_22.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
+v 0.04697042 -0.02240376 -0.01214526
+v 0.04697042 -0.03821702 0.00868215
+v 0.04697042 -0.03547491 -0.01214531
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572cc319375844db162db87237e58f56cf0f3406
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e1ab794554299ea726ad2c686ed29e3cb2e8e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_24.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e807292c35f064de56fad050ea9ec7211273b8df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5262a7fcf21866d7b726e0a50ec17625cbdb59c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f751843834b541ea6d903282af88e927f39c8d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_27.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66d2339abc9684e6e30449c1af3cb105a7af724
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6768133ca736afb9f34c5eba6b369cc88961bd91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87f01aa6330197047353c01e1501e173f8ec31f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaea95bc61b79262c8d930ece2520e8f08fa25d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9777e6062c9aa5cc9d06184518d28c78fb305955
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_31.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0291a40b9907130badb4893d5284be5ed258bb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_32.obj
@@ -0,0 +1,670 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc5702373a59c5841ac0826abd8c11aec7d657d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_33.obj
@@ -0,0 +1,34 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3926c65f69f97a61a0a9eb8fce93c7d5e82c7928
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_34.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b705b81381b8a5b6e89ed5d86be15e44707c1d81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_35.obj
@@ -0,0 +1,973 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_36.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d26bd7af93e8cc9c07b27eb9145c6e7dba3ebe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_36.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_37.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7179a8c81cc762cbea16ba0065647b85052ce9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_37.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_38.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f88691b302891fa76f1fab46bb3bc1a7c211c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_38.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_39.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbef9dc76a8bdebb8663f0e77cfa31e8f6ac3860
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a9c1737ecb65532cf3a7ffc9a123c8ad3ec6b36
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_4.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_40.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae3208e35b88fb6739080f3c6bf80d4886423596
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+f 3 16 24
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+f 3 14 8
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_41.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6439c0216bb46c2bf39e779a6d624b4d41048a00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_41.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01962245 0.02750362 -0.03902597
+v -0.01761573 0.02913505 -0.03902596
+v -0.01962245 0.02706047 -0.03902597
+v -0.01962245 0.03891545 -0.03095232
+v -0.01372360 0.03152312 -0.03902595
+v -0.01962245 0.03997573 -0.03017633
+v 0.00069339 0.02706047 -0.03902597
+v -0.01962245 0.02706043 -0.02751097
+v -0.01251638 0.03209758 -0.03902595
+v -0.01962245 0.04186813 -0.02871680
+v -0.01948522 0.04190259 -0.02874260
+v 0.00069339 0.03495834 -0.03902594
+v 0.00069339 0.02706044 -0.03018928
+v -0.01962245 0.04382613 -0.01706852
+v -0.00718434 0.03408354 -0.03902594
+v -0.01689776 0.04087187 -0.03050091
+v -0.01684605 0.04266744 -0.02909081
+v -0.01546183 0.04120013 -0.03074380
+v -0.01580192 0.04382617 -0.02851259
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+v -0.01667302 0.04382617 -0.02820736
+v -0.00004844 0.03494521 -0.03902594
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+v -0.00656184 0.04382618 -0.03056538
+v -0.00497874 0.04382618 -0.03075239
+v -0.00495288 0.04382618 -0.03075454
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+f 1 48 43
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_42.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9147b36e0229629a4a03108f27d76902ac5eb2c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_42.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02460497 0.02172588 -0.04099653
+v -0.02414920 0.02172589 -0.04491034
+v -0.02419797 0.02166391 -0.04491034
+v -0.02549213 0.01992639 -0.04491035
+v -0.02605855 0.01973205 -0.04099654
+v -0.01128640 0.02172588 -0.04099653
+v -0.02382472 0.02172590 -0.04747771
+v -0.02404417 0.02145592 -0.04747771
+v -0.02533833 0.01969740 -0.04747772
+v -0.02636240 0.01863534 -0.04491035
+v -0.02650494 0.01907759 -0.04099654
+v -0.01138955 0.02159037 -0.04099653
+v -0.02511888 0.01099408 -0.04949920
+v -0.01736518 0.02172591 -0.04912177
+v -0.02251181 0.02172591 -0.04955294
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+v -0.02789663 0.01669192 -0.04099655
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+v -0.02836553 0.01504896 -0.04491036
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+v -0.02019358 0.01099405 -0.04099657
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+v -0.02890382 0.01155400 -0.04919352
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+v -0.02965218 0.01099407 -0.04747775
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+v -0.02878378 0.01340390 -0.04747774
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+v -0.02972721 0.01099407 -0.04692197
+v -0.02980974 0.01155398 -0.04491038
+v -0.03030114 0.01146887 -0.04099657
+v -0.02980786 0.01269269 -0.04099656
+v -0.02999166 0.01099406 -0.04486018
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_43.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fc9657c1194c571dfc39b549f729573bd35904
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_43.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.03641203 -0.03597672 -0.01258979
+v -0.03641203 -0.01588631 -0.02363648
+v -0.03641203 -0.03597669 -0.02308683
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+v -0.03641203 -0.01690702 -0.03272519
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+v -0.03605142 -0.03597668 -0.02339834
+v -0.03641203 -0.03315636 -0.02522288
+v -0.01923062 -0.03597665 -0.03311530
+v -0.01919861 -0.02832007 -0.03932972
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+v -0.03529143 -0.03523718 -0.02459987
+v -0.03641203 -0.03240899 -0.02573857
+v -0.03495778 -0.03229294 -0.02690607
+v -0.03431238 -0.03428526 -0.02609720
+v -0.01980188 -0.03597665 -0.03291374
+v -0.01923737 -0.02828860 -0.03932972
+v -0.02199926 -0.03597665 -0.03204989
+v -0.02406858 -0.03597666 -0.03115201
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+v -0.03623341 -0.02319867 -0.03073575
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+v -0.03641203 -0.02255554 -0.03086139
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+v -0.03641203 -0.02832207 -0.02812852
+v -0.02244750 -0.02538567 -0.03932971
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_44.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f389778a3fc65491251978fc36174f4b98912fb1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_44.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.01854658 0.04336880 -0.01878636
+v 0.00069514 0.04718680 -0.01878635
+v 0.01854658 0.05218417 -0.01878633
+v 0.01854658 0.05426296 -0.00279645
+v 0.00069514 0.05702319 -0.00279644
+v 0.00069514 0.05525130 -0.01878632
+v 0.01672194 0.05278833 -0.01878633
+v 0.01854658 0.05225751 -0.01868302
+v 0.01854658 0.06037215 -0.00279643
+v 0.00069514 0.06307447 -0.00279642
+v 0.00069514 0.05628396 -0.01715210
+v 0.00121422 0.05628976 -0.01716149
+v 0.00079126 0.05525323 -0.01878632
+v 0.01609974 0.05298328 -0.01878633
+v 0.01673592 0.05378432 -0.01735247
+v 0.01854658 0.05257600 -0.01822751
+v 0.01854658 0.06028722 -0.00305001
+v 0.01671320 0.06090489 -0.00279643
+v 0.00082098 0.06307833 -0.00279642
+v 0.00069514 0.06290654 -0.00329889
+v 0.00069514 0.05703868 -0.01586853
+v 0.00380087 0.05622992 -0.01707227
+v 0.00337618 0.05516058 -0.01878632
+v 0.00106042 0.05525709 -0.01878632
+v 0.00121422 0.05704448 -0.01587792
+v 0.00380087 0.05699429 -0.01578869
+v 0.01432404 0.05350444 -0.01878632
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+v 0.01849241 0.05433057 -0.01562591
+v 0.01854658 0.05353532 -0.01679522
+v 0.01854658 0.06002277 -0.00383894
+v 0.01673592 0.06055745 -0.00381389
+v 0.01561737 0.06119635 -0.00279643
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+v 0.00069514 0.06273089 -0.00381388
+v 0.00069514 0.05801923 -0.01408718
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_45.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ce775663256cb369f99170891ad6fc08c9cf3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_45.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_46.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a7793377492c5174c732700c870a0d12bd2eeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_46.obj
@@ -0,0 +1,226 @@
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_47.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45065e37a366c3d49a7d4f8812d0806b2765deab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_47.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.04697042 -0.02295994 -0.01214778
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_48.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e8edb970a99ba76b4eac64b2f1dd2ea2c3f9df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_48.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00069339 0.02706047 -0.03902705
+v 0.00069339 0.02706049 -0.04230756
+v 0.00069339 0.03495734 -0.03902702
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_49.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5edde96d72f8b2fabf8dbca719c8e8f559311166
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_49.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02207409 -0.01943928 -0.05007268
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca12626d783efcfd43b8e2dd67b78325efa05788
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_5.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_50.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a234ee9b33a25895d8ba50361fe32cd18d2de1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_50.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02230272 0.03659826 -0.02200822
+v 0.02230272 0.01963351 -0.02898289
+v 0.02230272 0.03659830 -0.03148840
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_51.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8215448053ef944102cfaf1ef945f872ee35d3ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_51.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.03639879 0.03659823 -0.01332807
+v 0.02932850 0.03659825 -0.01878639
+v 0.03639879 0.03659825 -0.01878639
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_52.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881ac4649f090fe94e0e3e5ac4a1ca8640f5f4e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_52.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_53.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38224ca3220be85fccfefcddce0d8bf07fac0bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_53.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_54.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ce4b6d9802574ec8a9ab41bbcbb52bc50abfb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_54.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_55.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4e4da5db41e08da75c7182767296686808671d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_55.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_56.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1ba515a2d3d0c65bb8db648f99a84a1143d78b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_56.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02276738 -0.02295983 -0.04100336
+v 0.01349577 -0.02295983 -0.04100336
+v 0.02276738 -0.02295980 -0.04947647
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+v 0.02003782 -0.02283077 -0.04919136
+v 0.02188597 -0.02199073 -0.04959710
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_57.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf6ac082cfef25085943cbe01e674c17a228d75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_57.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_58.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e581894b67a215e05ba9d972afab8e62f30abf3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_58.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00069339 -0.03597667 -0.02650242
+v -0.01919861 -0.03597668 -0.02353382
+v 0.00069339 -0.03597663 -0.03755893
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_59.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7853ae056d538118702430f68da7e05e8fe66d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_59.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d47f3ec0c5c01ca247c53f908b59654c4c7eda0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_6.obj
@@ -0,0 +1,799 @@
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_60.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6473cacf61a513d7a2bb219818273d95bc4f29d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_60.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_61.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a74aac696849ee15dead69abb5ecc051d31b7a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_61.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_62.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8f13e9dc2e1c1eb891b6471349019e72d625ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_62.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_63.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a15b33defaadb0748d97b212f8ba9f6c363785
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_63.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1217e9452c19a07a8a016c39318d3ade911a648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_7.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5326ec9da2e893bc2a6224f9f8226c54f82a1590
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_8.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2033cabdf5fe12d645c514bdaaaa74299752f2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mjcf/mesh/bowl_collision_9.obj
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