diff --git a/.gitattributes b/.gitattributes
index e2f5ef99a473fefa2f8cd58ceb5ea3ea0b30a203..18e3309cea4d44b52b46d7b2428fb046dbcd7b3c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4866,3 +4866,6 @@ dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/mesh/bottle_gs.pl
 dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/ee5ed0047ded5d80b9d75960267d6c4f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.urdf b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a3c523446679d2226de7d7c49c012cf7b95a5b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl">
+   <link name="bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/bowl.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/bowl_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.273264</scale>
+         <version>v0.1.7</version>
+         <category>bowl</category>
+         <description>red bowl with white paw print design</description>
+         <min_height>0.040</min_height>
+         <max_height>0.064</max_height>
+         <real_height>0.052</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119132652</generate_time>
+         <gs_model>mesh/bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.475461483001709</ImageAestheticChecker>
+         <overall>NO</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/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.usd b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e0ade58d6c32c75d2a41a7c2cb0369aac453fe94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a200701fcfb6b0a0dd8d121afc939e9e4d6a0eb9cceac6263915fbca28878f
+size 566421
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.glb b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..146185b2507375ee1fbdc0e00917ab9cf582a104
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b844d2878506ccd6746755408dfc250eadc44bf299db6f52c224ac04167dda32
+size 1933808
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386f8ffe002f6bd524f29a7b6dc4877ad43816b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.obj
@@ -0,0 +1,34848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c894ea80ebe2aeb4514e7fb9cc0987f32366f3f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_gs.ply b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_gs.ply
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index 0000000000000000000000000000000000000000..e157cd13ad3d3de6c24ab4acfd503931d10f1bfe
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/material.mtl b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/material.mtl
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/material_0.png b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/ef6fad78b4ed55fa917e02a17b849358.xml b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/ef6fad78b4ed55fa917e02a17b849358.xml
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d1fee62bb796e529a30d3a1aee48b7168b47d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl.obj
@@ -0,0 +1,34848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ba4d0449ef5ddc03d8f1a6628cd45eb5f95381
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision.obj
@@ -0,0 +1,11042 @@
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_0.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abeb6f457b5c343cb41d193ac6f13c424aeb909
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_1.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61d828c3fecaa1e2f6e228cf9e4c6b7dd23a9158
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_10.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f132cc1f567b7f73f589a80ce797d9ba01275963
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_11.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a526db2620fce605b39f884f6435b27d23680cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00013933 0.10982134 0.02261950
+v -0.00013933 0.10947587 0.02153622
+v -0.00013933 0.10913676 0.02506894
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+v 0.00541865 0.10970689 0.02261950
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+v 0.00165322 0.10253484 0.01567768
+v -0.00013933 0.10254543 0.01567768
+v -0.00013933 0.10296503 0.02615010
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+v -0.00013933 0.09535640 0.01567765
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+v 0.00903981 0.10217877 0.01567768
+v -0.00013933 0.09536700 0.01579813
+v 0.03669983 0.08817161 0.01567762
+v 0.03669983 0.08831995 0.01801914
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_12.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56122dc51349c9272bee20ece81b8d51d8980fe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06749199 0.07264425 -0.01826313
+v 0.06749199 0.07682496 0.01549349
+v 0.06767635 0.07666488 0.01550671
+v 0.07056367 0.07412284 0.01550670
+v 0.06829178 0.07190869 -0.01826314
+v 0.06749199 0.05986165 -0.01826318
+v 0.06749199 0.07682496 0.01550671
+v 0.07065314 0.07403519 0.01550670
+v 0.07015701 0.07010602 -0.01826314
+v 0.06831617 0.07188583 -0.01826314
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+v 0.06749199 0.06782301 0.01550668
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+v 0.07196531 0.06832241 -0.01826315
+v 0.08033990 0.04038666 -0.01826325
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+v 0.08621758 0.04959059 -0.01826322
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_13.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80dfe0f9d53a7b82b39b1cdbda4cf3a94071067d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_13.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.03666267 -0.08813895 0.01552564
+v 0.03666267 -0.08814746 0.01561225
+v 0.03666267 -0.09531984 0.01552561
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+v 0.02926695 -0.09780282 0.01552560
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_14.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b8ad0313d63e7375aef7827bbd73650f4f12ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_14.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_15.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b85339183f953cb107556f227a81cb24ca755dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_15.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_16.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4033c20bf1c1407fc5d4d3694a223795b1830d64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_16.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_17.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f082b7e979a46121f1ffd14249717fc9cb0bb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_17.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_18.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8c53e23d816cf1596df1fcb8f42d3a31002e00d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_18.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_19.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f1b764c3a8e5bb9ac753a94c1c87bae294f700
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_19.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_2.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d3a28590c1930bc209de8e6704bf973f1340a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_20.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235b1380c48056c006d1cce88d11d5917d37e82c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_20.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_21.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66a28860e89f49d6ed7dd0effb07e0542de1652
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_21.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_22.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fece460fbebd481d8622743c067ab26a27a2f760
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_22.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.08224075 0.03789417 -0.01826326
+v 0.08762228 0.03789404 0.01550657
+v 0.09201132 0.03789417 -0.01826326
+v 0.09000226 0.00000075 -0.01826340
+v 0.09518731 0.03789404 0.01550657
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+v 0.09336072 0.03444830 -0.01826327
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+v 0.10258190 0.00540496 0.01550645
+v 0.10236336 0.00870988 0.01550646
+v 0.09925153 0.00906980 -0.01826337
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_23.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbb36c08b3dc54ebd9a720a1bc5c01a269a028c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.09648848 -0.03297108 0.01554686
+v 0.09784526 -0.02924014 0.01554687
+v 0.08942730 -0.03297108 0.01554686
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+v 0.10272897 0.00000062 0.01554698
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_24.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a089d3c103f003b58678841e91a75e5147d9bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_24.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03403770 0.09359681 -0.01826881
+v -0.03285657 0.09404685 -0.01826880
+v -0.03403770 0.08347157 -0.01826884
+v -0.03403770 0.09622415 0.01565030
+v -0.03077298 0.09477515 -0.01826880
+v -0.02945913 0.09788804 0.01565031
+v -0.00014294 0.08993289 -0.01826882
+v -0.00014294 0.09535392 0.01565030
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+v -0.00014294 0.10253981 0.01565033
+v -0.02712670 0.09596097 -0.01826880
+v -0.02697077 0.09860700 0.01565031
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+v -0.00905126 0.09919163 -0.01826879
+v -0.00543485 0.10246698 0.01565033
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+f 28 31 30
+f 28 30 32
+f 28 32 29
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_25.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629aeb21b9befc81d93fc26117c34ef6b35158a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_25.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.10978525 0.00000060 0.02261894
+v 0.10915210 0.00000059 0.02497499
+v 0.10911498 0.00000061 0.02034416
+v 0.10911963 0.00179027 0.02033889
+v 0.10978293 0.00179026 0.02261895
+v 0.10914746 0.00179025 0.02497395
+v 0.10667515 0.00179024 0.02604114
+v 0.10667515 0.00000058 0.02604113
+v 0.10271854 0.00000062 0.01550749
+v 0.10272085 0.00148256 0.01550750
+v 0.10272085 0.00179028 0.01550750
+v 0.10908253 0.00540604 0.02035790
+v 0.10968784 0.00540603 0.02261896
+v 0.10908948 0.00540602 0.02493173
+v 0.10667515 0.00540601 0.02599787
+v 0.10305946 0.01986098 0.02629032
+v 0.10305946 0.00000058 0.02616569
+v 0.10305946 0.01624521 0.02627341
+v 0.09549179 0.00000062 0.01550749
+v 0.10260257 0.00509832 0.01550751
+v 0.10898280 0.00901775 0.02043074
+v 0.10881349 0.01263352 0.02057749
+v 0.10947679 0.00901775 0.02261897
+v 0.10897815 0.00901774 0.02483780
+v 0.10667515 0.00901773 0.02589865
+v 0.10305946 0.02346865 0.02623755
+v 0.09944377 0.03430786 0.02628510
+v 0.09944377 0.03069614 0.02627136
+v 0.09985195 0.00000059 0.02509955
+v 0.09582808 0.04136528 0.02625134
+v 0.09220775 0.04136529 0.02545860
+v 0.09551498 0.00000062 0.01579777
+v 0.08609424 0.04136532 0.01551185
+v 0.08613366 0.04128435 0.01550764
+v 0.10236138 0.00871004 0.01550752
+v 0.10233354 0.00902182 0.01550752
+v 0.10185578 0.01236225 0.01550754
+v 0.10863955 0.01540304 0.02075061
+v 0.10912658 0.01263352 0.02261899
+v 0.10861867 0.01533420 0.02447893
+v 0.10879493 0.01263351 0.02466575
+v 0.10667515 0.01263351 0.02572134
+v 0.10305946 0.02708037 0.02604651
+v 0.09944377 0.03792363 0.02610672
+v 0.09893818 0.00000059 0.02452110
+v 0.08998592 0.04136529 0.02456769
+v 0.09973367 0.04136529 0.02547337
+v 0.09582808 0.00000061 0.01920941
+v 0.08642358 0.04136531 0.01920956
+v 0.08619629 0.04136532 0.01550764
+v 0.09838852 0.02740028 0.01550759
+v 0.10555496 0.02708040 0.02036220
+v 0.10837979 0.01764214 0.02261900
+v 0.10870217 0.01583224 0.02261900
+v 0.10514910 0.03069616 0.02065672
+v 0.10491486 0.03265588 0.02086362
+v 0.10488238 0.03254655 0.02434071
+v 0.10513286 0.03069615 0.02459404
+v 0.10558511 0.02708038 0.02498248
+v 0.10598402 0.02346866 0.02520098
+v 0.10637365 0.01986099 0.02530862
+v 0.10305946 0.03069615 0.02565173
+v 0.10213873 0.03792364 0.02506486
+v 0.09804295 0.00000059 0.02395108
+v 0.08805632 0.04136530 0.02266764
+v 0.10066137 0.04136529 0.02506909
+v 0.09631744 0.00000060 0.02071045
+v 0.08800993 0.04136530 0.02261592
+v 0.09681839 0.00000060 0.02224631
+v 0.09371758 0.04136532 0.01550764
+v 0.09838388 0.02741648 0.01550759
+v 0.10627392 0.02708039 0.02261904
+v 0.09528306 0.03761594 0.01550763
+v 0.09517174 0.03794391 0.01550763
+v 0.10162849 0.04087133 0.02058921
+v 0.10153572 0.04136530 0.02101460
+v 0.10181866 0.04136530 0.02243330
+v 0.10185346 0.04136530 0.02261909
+v 0.10491486 0.03265183 0.02261906
+v 0.10541349 0.03069616 0.02261905
+v 0.10182099 0.04136530 0.02279748
+v 0.10165400 0.04083083 0.02471336
+v 0.09743531 0.00000060 0.02310662
+v 0.10071007 0.04136531 0.02031897
+v 0.09432985 0.04022351 0.01550764
+v 0.09438783 0.04009799 0.01550764
+f 1 2 8
+f 1 8 17
+f 1 17 29
+f 1 29 45
+f 1 45 64
+f 1 64 83
+f 1 83 69
+f 1 69 67
+f 1 67 48
+f 1 48 32
+f 1 32 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 18
+f 8 18 17
+f 9 19 34
+f 9 34 50
+f 9 50 70
+f 9 70 85
+f 9 85 86
+f 9 86 74
+f 9 74 73
+f 9 73 71
+f 9 71 51
+f 9 51 37
+f 9 37 36
+f 9 36 35
+f 9 35 20
+f 9 20 11
+f 9 11 10
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 17 18 30
+f 17 30 31
+f 17 31 29
+f 18 28 30
+f 19 32 33
+f 19 33 34
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 25
+f 25 42 26
+f 26 43 44
+f 26 44 27
+f 26 42 43
+f 27 44 30
+f 27 30 28
+f 29 31 46
+f 29 46 45
+f 30 44 47
+f 30 47 66
+f 30 66 81
+f 30 81 78
+f 30 78 77
+f 30 77 76
+f 30 76 84
+f 30 84 70
+f 30 70 50
+f 30 50 33
+f 30 33 49
+f 30 49 68
+f 30 68 65
+f 30 65 46
+f 30 46 31
+f 32 48 49
+f 32 49 33
+f 33 50 34
+f 37 51 52
+f 37 52 38
+f 38 53 54
+f 38 54 39
+f 38 52 55
+f 38 55 56
+f 38 56 53
+f 39 54 40
+f 40 54 53
+f 40 53 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 42
+f 42 61 60
+f 42 60 43
+f 43 60 59
+f 43 59 62
+f 43 62 44
+f 44 63 47
+f 44 62 63
+f 45 46 64
+f 46 65 64
+f 47 63 66
+f 48 67 49
+f 49 67 69
+f 49 69 68
+f 51 71 56
+f 51 56 55
+f 51 55 52
+f 53 56 72
+f 53 72 57
+f 56 71 73
+f 56 73 74
+f 56 74 75
+f 56 75 76
+f 56 76 77
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 72
+f 57 72 80
+f 57 80 79
+f 57 79 78
+f 57 78 81
+f 57 81 82
+f 57 82 63
+f 57 63 58
+f 58 63 59
+f 59 63 62
+f 63 82 66
+f 64 65 68
+f 64 68 83
+f 66 82 81
+f 68 69 83
+f 70 84 75
+f 70 75 85
+f 74 86 75
+f 75 86 85
+f 75 84 76
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_26.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1087f769f3b28dde40e5256a01affb046412a73d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_26.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.08628184 -0.02711766 -0.01826471
+v -0.08628184 -0.04957550 -0.01826479
+v -0.08628184 -0.02711766 -0.01826160
+v -0.06682165 -0.06038492 -0.01826483
+v -0.08623802 -0.04965355 -0.01826479
+v -0.08628184 -0.05433645 0.01357858
+v -0.08628184 -0.04037103 0.01357863
+v -0.06682165 -0.06821895 0.01357853
+v -0.06682165 -0.07336989 -0.01826488
+v -0.08621706 -0.04968769 -0.01826479
+v -0.08623230 -0.05441938 0.01357858
+v -0.06682165 -0.07695039 0.01357850
+v -0.06787325 -0.07603822 0.01357850
+v -0.07032886 -0.07381878 0.01357851
+v -0.06836285 -0.07194067 -0.01826487
+v -0.08451585 -0.05240955 -0.01826480
+v -0.08526644 -0.05593152 0.01357857
+v -0.07151954 -0.07271149 0.01357851
+v -0.07395991 -0.07030181 0.01357852
+v -0.07015170 -0.07013097 -0.01826487
+v -0.08326994 -0.05434121 -0.01826481
+v -0.08360714 -0.05841925 0.01357857
+v -0.07512962 -0.06910673 0.01357853
+v -0.07193483 -0.06829199 -0.01826486
+v -0.08195926 -0.05618506 -0.01826482
+v -0.08166206 -0.06110697 0.01357856
+v -0.07724614 -0.06674095 0.01357853
+v -0.07593546 -0.06503847 -0.00962761
+v -0.07359223 -0.06645791 -0.01826485
+v -0.08017612 -0.05861912 -0.01826483
+v -0.08002752 -0.06332642 0.01357855
+v -0.07912262 -0.06450199 0.01357854
+v -0.07693752 -0.06261900 -0.01826484
+v -0.07537537 -0.06445309 -0.01826485
+v -0.08015707 -0.05864351 -0.01826483
+v -0.07874542 -0.06042883 -0.01826483
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 36
+f 1 36 35
+f 1 35 30
+f 1 30 25
+f 1 25 21
+f 1 21 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 11 6
+f 6 11 17
+f 6 17 22
+f 6 22 26
+f 6 26 31
+f 6 31 32
+f 6 32 27
+f 6 27 23
+f 6 23 19
+f 6 19 18
+f 6 18 14
+f 6 14 13
+f 6 13 12
+f 6 12 8
+f 6 8 7
+f 9 12 13
+f 9 13 14
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 30 26
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 35 32
+f 30 32 31
+f 32 35 36
+f 32 36 33
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_27.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662781c2f71c3b5e34af0923f2caf32ca042afef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_27.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.09091982 0.04115145 -0.01826900
+v -0.08035768 0.04115145 -0.01826900
+v -0.09103054 0.04091783 -0.01826900
+v -0.09428712 0.04012417 0.01569341
+v -0.09369442 0.04115132 0.01569341
+v -0.08619997 0.04115132 0.01569341
+v -0.09544211 0.00000062 0.01569326
+v -0.09000364 0.00000075 -0.01826915
+v -0.09234403 0.03792095 -0.01826901
+v -0.09235706 0.03788873 -0.01826901
+v -0.09515770 0.03792888 0.01569340
+v -0.10253493 0.00000062 0.01569326
+v -0.09952151 0.00000075 -0.01826915
+v -0.09355982 0.03480725 -0.01826902
+v -0.09806040 0.02997344 0.01569337
+v -0.10252624 0.00179311 0.01569327
+v -0.09952368 0.00179324 -0.01826914
+v -0.09952368 0.00174893 -0.01826914
+v -0.09420679 0.03300269 -0.01826903
+v -0.09492541 0.03069461 -0.01826904
+v -0.09591323 0.02708143 -0.01826905
+v -0.09881158 0.02708936 0.01569336
+v -0.10240466 0.00541434 0.01569328
+v -0.09941514 0.00536210 -0.01826913
+v -0.09675343 0.02346825 -0.01826906
+v -0.09739822 0.02037873 -0.01826908
+v -0.10178591 0.01227413 0.01569331
+v -0.09941296 0.00540641 -0.01826913
+v -0.10216802 0.00901946 0.01569329
+v -0.09919586 0.00901959 -0.01826912
+v -0.09775862 0.01853790 -0.01826908
+v -0.09818415 0.01620163 -0.01826909
+v -0.09877033 0.01263276 -0.01826910
+f 1 2 8
+f 1 8 13
+f 1 13 18
+f 1 18 17
+f 1 17 24
+f 1 24 28
+f 1 28 30
+f 1 30 33
+f 1 33 32
+f 1 32 31
+f 1 31 26
+f 1 26 25
+f 1 25 21
+f 1 21 20
+f 1 20 19
+f 1 19 14
+f 1 14 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 15
+f 4 15 22
+f 4 22 27
+f 4 27 29
+f 4 29 23
+f 4 23 16
+f 4 16 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 13
+f 7 13 8
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 16 23 24
+f 16 24 17
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 28 24
+f 23 29 30
+f 23 30 28
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 27 33 30
+f 27 30 29
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_28.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdecb78b71e7537addf5f68d8a876c671614185d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_28.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.08397174 -0.03297520 -0.01824721
+v 0.08942268 -0.03297533 0.01551194
+v 0.09400668 -0.03297520 -0.01824721
+v 0.06754242 -0.05956983 -0.01824731
+v 0.06754242 -0.06761348 0.01551181
+v 0.09648567 -0.03297533 0.01551194
+v 0.09484812 -0.03827383 0.01551192
+v 0.09344855 -0.03452007 -0.01824722
+v 0.06754242 -0.07268628 -0.01824736
+v 0.06754242 -0.07644856 0.01551178
+v 0.09421634 -0.04001872 0.01551191
+v 0.09211415 -0.03789493 -0.01824723
+v 0.06835552 -0.07196705 -0.01824735
+v 0.07007523 -0.07423979 0.01551179
+v 0.06845185 -0.07567400 0.01551178
+v 0.09086190 -0.04078463 -0.01824724
+v 0.09208866 -0.03795877 -0.01824723
+v 0.09072309 -0.04746640 0.01551189
+v 0.09005163 -0.04255931 -0.01824725
+v 0.07031605 -0.07012853 -0.01824735
+v 0.07036705 -0.07396741 0.01551179
+v 0.09066075 -0.04759408 0.01551189
+v 0.09003464 -0.04259336 -0.01824725
+v 0.07208958 -0.06843897 -0.01824734
+v 0.07387730 -0.07061383 0.01551180
+v 0.08726950 -0.04786207 -0.01824727
+v 0.08871156 -0.04518515 -0.01824726
+v 0.08773980 -0.05260319 0.01551187
+v 0.08624674 -0.04966654 -0.01824727
+v 0.08626657 -0.04963249 -0.01824727
+v 0.07212358 -0.06840493 -0.01824734
+v 0.07408128 -0.07041806 0.01551180
+v 0.08678787 -0.05418635 0.01551186
+v 0.08460352 -0.05236473 -0.01824728
+v 0.07587749 -0.06860933 0.01551181
+v 0.07384613 -0.06659620 -0.01824733
+v 0.08039350 -0.06325976 0.01551183
+v 0.08024618 -0.05878677 -0.01824731
+v 0.08205088 -0.05622476 -0.01824730
+v 0.08330312 -0.05442029 -0.01824729
+v 0.08332862 -0.05438199 -0.01824729
+v 0.08457236 -0.05241580 -0.01824728
+v 0.07763119 -0.06673252 0.01551181
+v 0.07561967 -0.06468959 -0.01824733
+v 0.07931690 -0.06476207 0.01551182
+v 0.07891743 -0.06059123 -0.01824731
+v 0.07564800 -0.06465555 -0.01824733
+v 0.07710706 -0.06288512 -0.01824732
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 16
+f 1 16 19
+f 1 19 23
+f 1 23 27
+f 1 27 26
+f 1 26 30
+f 1 30 29
+f 1 29 34
+f 1 34 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 46
+f 1 46 48
+f 1 48 47
+f 1 47 44
+f 1 44 36
+f 1 36 31
+f 1 31 24
+f 1 24 20
+f 1 20 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 14
+f 2 14 21
+f 2 21 25
+f 2 25 32
+f 2 32 35
+f 2 35 43
+f 2 43 45
+f 2 45 37
+f 2 37 33
+f 2 33 28
+f 2 28 22
+f 2 22 18
+f 2 18 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 11 18 19
+f 11 19 16
+f 13 20 21
+f 13 21 14
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 22 28 29
+f 22 29 30
+f 22 30 26
+f 24 31 32
+f 24 32 25
+f 28 33 29
+f 29 33 34
+f 31 35 32
+f 31 36 35
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 35 36 43
+f 36 44 43
+f 37 45 38
+f 38 45 46
+f 43 44 45
+f 44 47 45
+f 45 47 48
+f 45 48 46
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_29.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..124ecda356f1819b9c8f0b436b59c1880255facf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_29.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_3.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9958c5c0fc4a2048d2a7f079bef5ba674ba00a28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_30.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0825496d4fec7c7f8a12103e560584ab498be338
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_31.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a349cd51dbba34808817ca4c3fde0027117c61b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_31.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_32.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211c5213a15e2b8159c9a8a96e95c2cdedf613e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_32.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_33.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca17d32ab4ea40a1a86258ffe2721133d1e18b1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_33.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.06749199 0.05986795 -0.01826318
+v 0.06508098 0.06140191 -0.01826317
+v 0.06749199 0.07264637 -0.01826313
+v 0.06749199 0.06782917 0.01553765
+v 0.03670344 0.08228745 -0.01826310
+v 0.03670344 0.08815942 0.01553772
+v 0.06650650 0.07355217 -0.01826313
+v 0.06723281 0.07708155 0.01553768
+v 0.06749199 0.07683861 0.01553768
+v 0.03670344 0.09242828 -0.01826306
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+v 0.06449934 0.07536031 -0.01826312
+v 0.06717254 0.07713361 0.01553768
+v 0.03796620 0.09193893 -0.01826306
+v 0.03670344 0.09272325 -0.01489820
+v 0.03829772 0.09479851 0.01553775
+v 0.03796620 0.09224086 -0.01489820
+v 0.06447522 0.07538113 -0.01826312
+v 0.06710021 0.07719261 0.01553768
+v 0.06269108 0.07688039 -0.01826312
+v 0.04072681 0.09075549 -0.01826307
+v 0.04107038 0.09091511 -0.01489821
+v 0.04149833 0.09333396 0.01553774
+v 0.06466810 0.07914651 0.01553769
+v 0.06266094 0.07690469 -0.01826312
+v 0.06042473 0.07870241 -0.01826311
+v 0.04253506 0.08991563 -0.01826307
+v 0.04287562 0.09007525 -0.01489821
+v 0.04522032 0.09155705 0.01553774
+v 0.06285985 0.08044795 0.01553770
+v 0.06068392 0.07887245 -0.01489825
+v 0.05864360 0.08006633 -0.01826311
+v 0.04516607 0.08859337 -0.01826307
+v 0.04519922 0.08890222 -0.01489821
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+v 0.05636821 0.08204102 -0.01489824
+v 0.05439118 0.08319671 -0.01751203
+v 0.05756166 0.08289817 0.00215104
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+v 0.04519922 0.08857601 -0.01826307
+v 0.04811654 0.08734049 -0.01489822
+v 0.04783325 0.08717393 -0.01826308
+v 0.05251060 0.08746879 0.01553772
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+v 0.05849592 0.08356793 0.01553771
+v 0.05317363 0.08390471 -0.01826309
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+v 0.05577149 0.08544896 0.01553771
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+v 0.04964150 0.08613277 -0.01826308
+v 0.05274266 0.08732997 0.01553772
+v 0.05256786 0.08428993 -0.01826309
+v 0.05322486 0.08703498 0.01553772
+v 0.05489750 0.08599729 0.01553772
+v 0.05274266 0.08417888 -0.01826309
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+f 1 27 33
+f 1 33 41
+f 1 41 43
+f 1 43 51
+f 1 51 53
+f 1 53 56
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+f 1 47 40
+f 1 40 32
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+f 1 26 25
+f 1 25 20
+f 1 20 18
+f 1 18 12
+f 1 12 7
+f 1 7 3
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+f 1 4 2
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+f 35 44 45
+f 35 45 42
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+f 45 52 54
+f 45 54 55
+f 45 55 49
+f 45 49 48
+f 47 56 48
+f 48 56 53
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_34.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca42440479a03ce84d4ae091114336e4ce31a52c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_34.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.06749199 0.06783079 0.01553765
+v 0.06749199 0.07683771 0.01553768
+v 0.06749199 0.06785160 0.01579858
+v 0.03670344 0.08839722 0.01920982
+v 0.03670344 0.08831745 0.01801923
+v 0.03670344 0.08816140 0.01553772
+v 0.06723281 0.07708048 0.01553768
+v 0.06589169 0.08726658 0.02053455
+v 0.06749199 0.08488047 0.02014473
+v 0.06749199 0.06811171 0.01853681
+v 0.03670344 0.08959721 0.02223645
+v 0.06749199 0.06817760 0.01920975
+v 0.06749199 0.06862845 0.02070457
+v 0.03670344 0.09531630 0.01553775
+v 0.06717254 0.07713251 0.01553768
+v 0.06180202 0.09052669 0.02073106
+v 0.06749199 0.08671513 0.02261886
+v 0.06710021 0.07719147 0.01553768
+v 0.06466810 0.07915100 0.01553769
+v 0.06285985 0.08045157 0.01553770
+v 0.05849592 0.08357296 0.01553771
+v 0.03670344 0.09092552 0.02376403
+v 0.06749199 0.06967586 0.02218567
+v 0.03670344 0.10215905 0.02023354
+v 0.03796620 0.10193709 0.02030747
+v 0.03829772 0.09479953 0.01553775
+v 0.06197380 0.09064114 0.02261887
+v 0.06378206 0.08938565 0.02261887
+v 0.06632266 0.08757871 0.02261886
+v 0.05605177 0.08526892 0.01553771
+v 0.05577149 0.08545272 0.01553771
+v 0.05489750 0.08599724 0.01553772
+v 0.05322486 0.08703423 0.01553772
+v 0.05274266 0.08732903 0.01553772
+v 0.05502408 0.09435212 0.02057685
+v 0.05547614 0.09461917 0.02261889
+v 0.05728440 0.09354402 0.02261888
+v 0.06181106 0.09054055 0.02454894
+v 0.06749199 0.08655212 0.02325694
+v 0.03670344 0.09251049 0.02485848
+v 0.06749199 0.07039724 0.02281846
+v 0.06749199 0.07224231 0.02426470
+v 0.03670344 0.10265846 0.02107761
+v 0.04063639 0.10147581 0.02061595
+v 0.04149833 0.09333595 0.01553774
+v 0.04804422 0.09801107 0.02054305
+v 0.05251060 0.08746776 0.01553772
+v 0.05047029 0.09744229 0.02261890
+v 0.04741434 0.09046775 0.01553773
+v 0.05510243 0.09442841 0.02477926
+v 0.05966225 0.09121685 0.02498208
+v 0.06593087 0.08730472 0.02480881
+v 0.06749199 0.08490819 0.02532749
+v 0.03670344 0.09573938 0.02599625
+v 0.06749199 0.07329665 0.02477495
+v 0.03670344 0.10325846 0.02265167
+v 0.03796620 0.10281454 0.02261892
+v 0.04119997 0.10168737 0.02261891
+v 0.04300822 0.10095558 0.02261891
+v 0.04522032 0.09155676 0.01553774
+v 0.04866203 0.09832668 0.02261890
+v 0.04817682 0.09812204 0.02485005
+v 0.05242923 0.09518794 0.02518175
+v 0.06311903 0.08851165 0.02517434
+v 0.05620246 0.09235095 0.02541627
+v 0.06703994 0.08508507 0.02540567
+v 0.06749199 0.08133246 0.02619058
+v 0.03796620 0.09573938 0.02610823
+v 0.03670344 0.09935324 0.02621810
+v 0.06749199 0.07413248 0.02505385
+v 0.06689526 0.07767351 0.02593491
+v 0.06749199 0.07767351 0.02600041
+v 0.03670344 0.10236713 0.02511206
+v 0.04081421 0.10154516 0.02472751
+v 0.04519922 0.09881915 0.02523881
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+v 0.05966225 0.08851164 0.02604271
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+v 0.04158271 0.09573938 0.02629627
+v 0.03796620 0.09935324 0.02615366
+v 0.04519922 0.09573938 0.02626141
+v 0.03796620 0.10203417 0.02509726
+v 0.05604574 0.08851164 0.02633005
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+f 80 85 81
+f 81 85 83
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_35.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f654b0a2191791ddcf05adf4ce0bac7cbecfccc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_35.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.06335619 0.07637521 -0.01826887
+v -0.06454398 0.07538052 -0.01826887
+v -0.06480530 0.07923675 0.01566357
+v -0.06473403 0.07929031 0.01566357
+v -0.06335619 0.08023528 0.01566357
+v -0.06335619 0.06397593 -0.01826892
+v -0.06457071 0.07535756 -0.01826887
+v -0.06713931 0.07727796 0.01566356
+v -0.06707101 0.07733535 0.01566356
+v -0.06335619 0.07170383 0.01566354
+v -0.08035349 0.04115528 -0.01826900
+v -0.06874579 0.07588920 0.01566356
+v -0.06657214 0.07357476 -0.01826888
+v -0.08619445 0.04115515 0.01566343
+v -0.09091591 0.04115528 -0.01826900
+v -0.06838055 0.07193733 -0.01826889
+v -0.07056906 0.07415232 0.01566355
+v -0.09369238 0.04115515 0.01566343
+v -0.09082980 0.04752504 0.01566345
+v -0.09080308 0.04758242 0.01566345
+v -0.09014682 0.04274680 -0.01826899
+v -0.06840430 0.07191437 -0.01826889
+v -0.07243389 0.07235038 0.01566355
+v -0.08691603 0.05428516 0.01566348
+v -0.08733770 0.04788097 -0.01826897
+v -0.08886400 0.04515320 -0.01826898
+v -0.08887885 0.04512641 -0.01826898
+v -0.09013494 0.04276975 -0.01826899
+v -0.07026914 0.07010862 -0.01826889
+v -0.07207458 0.06832199 -0.01826890
+v -0.07423933 0.07051784 0.01566354
+v -0.08377729 0.05873068 0.01566350
+v -0.08204609 0.05617138 -0.01826894
+v -0.08329921 0.05436563 -0.01826895
+v -0.08331702 0.05433885 -0.01826895
+v -0.08460281 0.05234945 -0.01826896
+v -0.08627462 0.04968672 -0.01826897
+v -0.08628650 0.04966759 -0.01826897
+v -0.07374046 0.06651241 -0.01826891
+v -0.07601507 0.06870060 0.01566353
+v -0.08053166 0.06330246 0.01566351
+v -0.08026143 0.05866960 -0.01826893
+v -0.07552511 0.06453066 -0.01826891
+v -0.07761860 0.06691016 0.01566353
+v -0.07940622 0.06482895 0.01566352
+v -0.07888062 0.06048684 -0.01826893
+v -0.07772846 0.06678391 0.01566353
+v -0.07708112 0.06269813 -0.01826892
+v -0.07886281 0.06050979 -0.01826893
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 11
+f 1 11 15
+f 1 15 21
+f 1 21 28
+f 1 28 27
+f 1 27 26
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+f 1 36 35
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+f 1 29 22
+f 1 22 16
+f 1 16 13
+f 1 13 7
+f 1 7 2
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+f 2 8 9
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+f 3 12 17
+f 3 17 23
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+f 10 14 11
+f 11 14 18
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+f 12 13 16
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+f 41 45 42
+f 42 45 46
+f 43 45 47
+f 43 47 44
+f 43 48 45
+f 45 48 49
+f 45 49 46
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_4.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d96ada742fd8f4c41bec13067f948845c325c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_4.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03666267 -0.09531768 0.01552561
+v 0.03219652 -0.09385216 -0.01824743
+v 0.03222523 -0.09384229 -0.01824743
+v 0.03433984 -0.09310959 -0.01824743
+v 0.03441523 -0.09308195 -0.01824743
+v 0.03666267 -0.09224459 -0.01824743
+v 0.03666267 -0.08814084 0.01552564
+v 0.02926695 -0.09780014 0.01552560
+v 0.03039785 -0.09445055 -0.01824744
+v 0.03666267 -0.08229695 -0.01824739
+v -0.00001434 -0.09533940 0.01552561
+v 0.02740366 -0.09835904 0.01552560
+v 0.02711286 -0.09547356 -0.01824744
+v 0.02718466 -0.09545184 -0.01824744
+v -0.00001434 -0.08985099 -0.01824742
+v -0.00001434 -0.10247279 0.01552558
+v 0.02738930 -0.09836299 0.01552560
+v 0.02356578 -0.09644325 -0.01824744
+v -0.00001434 -0.09950436 -0.01824746
+v 0.00002156 -0.09950436 -0.01824746
+v 0.00151506 -0.10247081 0.01552558
+v 0.01976022 -0.09731419 -0.01824745
+v 0.02349758 -0.09646103 -0.01824744
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+v 0.00180227 -0.09950041 -0.01824746
+v 0.00180227 -0.10246884 0.01552558
+v 0.01214192 -0.10174207 0.01552559
+v 0.01826672 -0.09761832 -0.01824745
+v 0.00187049 -0.09949843 -0.01824746
+v 0.00513034 -0.10236614 0.01552558
+v 0.00900771 -0.10213112 0.01552558
+v 0.00903643 -0.09909555 -0.01824745
+v 0.01265172 -0.09862553 -0.01824745
+v 0.01659012 -0.09794220 -0.01824745
+v 0.00542115 -0.09936216 -0.01824745
+v 0.00542115 -0.10235232 0.01552558
+v 0.00874922 -0.10215680 0.01552558
+v 0.00548936 -0.09935822 -0.01824745
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 11
+f 1 11 16
+f 1 16 21
+f 1 21 26
+f 1 26 30
+f 1 30 36
+f 1 36 37
+f 1 37 31
+f 1 31 27
+f 1 27 24
+f 1 24 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
+f 2 8 9
+f 2 9 14
+f 2 14 13
+f 2 13 18
+f 2 18 23
+f 2 23 22
+f 2 22 28
+f 2 28 34
+f 2 34 33
+f 2 33 32
+f 2 32 38
+f 2 38 35
+f 2 35 29
+f 2 29 25
+f 2 25 20
+f 2 20 19
+f 2 19 15
+f 2 15 10
+f 2 10 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 19
+f 11 19 16
+f 12 17 13
+f 13 17 18
+f 16 19 20
+f 16 20 21
+f 17 22 23
+f 17 23 18
+f 17 24 22
+f 20 25 21
+f 21 25 26
+f 22 24 27
+f 22 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 30
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_5.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5427f4e747a1a1eef8256bd92ecf07028e93ffc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_5.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.03666267 -0.09531092 0.01549751
+v 0.03821935 -0.09483859 0.01549751
+v 0.03666267 -0.08813502 0.01549754
+v 0.03666267 -0.09224240 -0.01824743
+v 0.03824958 -0.09482810 0.01549751
+v 0.06754242 -0.06761848 0.01549761
+v 0.06754242 -0.05957126 -0.01824731
+v 0.03666267 -0.08229551 -0.01824739
+v 0.03796545 -0.09175258 -0.01824743
+v 0.04000878 -0.09416683 0.01549751
+v 0.06754242 -0.07644576 0.01549758
+v 0.06754242 -0.07269150 -0.01824736
+v 0.03801986 -0.09173159 -0.01824743
+v 0.04559772 -0.09141684 0.01549752
+v 0.04052868 -0.09069246 -0.01824742
+v 0.04233625 -0.08986327 -0.01824742
+v 0.06718574 -0.07677115 0.01549758
+v 0.06654493 -0.07358018 -0.01824736
+v 0.04728741 -0.09058413 0.01549753
+v 0.04519873 -0.08845327 -0.01824741
+v 0.06693787 -0.07699157 0.01549758
+v 0.06448044 -0.07538552 -0.01824737
+v 0.05247433 -0.08754374 0.01549754
+v 0.04771965 -0.08713426 -0.01824741
+v 0.04775290 -0.08711676 -0.01824741
+v 0.04952722 -0.08609863 -0.01824741
+v 0.06661143 -0.07726097 0.01549758
+v 0.06270612 -0.07685148 -0.01824737
+v 0.05402799 -0.08661657 0.01549754
+v 0.04957860 -0.08606715 -0.01824741
+v 0.06445626 -0.07900333 0.01549757
+v 0.06044515 -0.07864983 -0.01824738
+v 0.05581440 -0.08543051 0.01549755
+v 0.05276149 -0.08409386 -0.01824740
+v 0.05425470 -0.08313521 -0.01824740
+v 0.06429605 -0.07912579 0.01549757
+v 0.06039982 -0.07868482 -0.01824738
+v 0.05840484 -0.08356918 0.01549755
+v 0.05573278 -0.08210308 -0.01824739
+v 0.05586578 -0.08200861 -0.01824739
+v 0.05859225 -0.08006332 -0.01824738
+v 0.06264869 -0.08037484 0.01549756
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 23
+f 1 23 29
+f 1 29 33
+f 1 33 38
+f 1 38 42
+f 1 42 36
+f 1 36 31
+f 1 31 27
+f 1 27 21
+f 1 21 17
+f 1 17 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 8 7
+f 4 7 12
+f 4 12 18
+f 4 18 22
+f 4 22 28
+f 4 28 32
+f 4 32 37
+f 4 37 41
+f 4 41 40
+f 4 40 39
+f 4 39 35
+f 4 35 34
+f 4 34 30
+f 4 30 26
+f 4 26 25
+f 4 25 24
+f 4 24 20
+f 4 20 16
+f 4 16 15
+f 4 15 13
+f 4 13 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 9 13 10
+f 10 13 15
+f 10 15 16
+f 10 16 14
+f 11 17 12
+f 12 17 18
+f 14 16 20
+f 14 20 19
+f 17 21 18
+f 18 21 22
+f 19 20 24
+f 19 24 25
+f 19 25 26
+f 19 26 23
+f 21 27 28
+f 21 28 22
+f 23 26 29
+f 26 30 29
+f 27 31 28
+f 28 31 32
+f 29 30 34
+f 29 34 35
+f 29 35 33
+f 31 36 37
+f 31 37 32
+f 33 35 39
+f 33 39 40
+f 33 40 41
+f 33 41 38
+f 36 42 41
+f 36 41 37
+f 38 41 42
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_6.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a52baadf3453b7c4e5118daac326ec872fe701d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_6.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00001434 -0.10202971 0.01362751
+v -0.00001434 -0.09515735 0.01362753
+v -0.00050070 -0.10203359 0.01362751
+v -0.00001434 -0.09950350 -0.01826498
+v -0.00001434 -0.08981531 -0.01826494
+v -0.03654777 -0.08216899 -0.01826491
+v -0.03654777 -0.08808081 0.01362756
+v -0.00181670 -0.10203554 0.01362751
+v -0.00176663 -0.09950739 -0.01826498
+v -0.03654777 -0.09227917 -0.01826495
+v -0.03654777 -0.09507957 0.01362753
+v -0.00181670 -0.09950739 -0.01826498
+v -0.00543214 -0.10188386 0.01362751
+v -0.00543214 -0.09939460 -0.01826498
+v -0.00538207 -0.09939655 -0.01826498
+v -0.03435562 -0.09310953 -0.01826495
+v -0.03432343 -0.09312120 -0.01826495
+v -0.03436277 -0.09587103 0.01362753
+v -0.00891168 -0.10156688 0.01362751
+v -0.00905114 -0.09914763 -0.01826497
+v -0.00900108 -0.09915152 -0.01826497
+v -0.03223499 -0.09387571 -0.01826495
+v -0.03325418 -0.09624830 0.01362753
+v -0.01233401 -0.10112934 0.01362751
+v -0.01266658 -0.09868870 -0.01826497
+v -0.03039687 -0.09447078 -0.01826496
+v -0.03012867 -0.09730618 0.01362752
+v -0.01856714 -0.10003839 0.01362751
+v -0.01628202 -0.09806447 -0.01826497
+v -0.02712832 -0.09547421 -0.01826496
+v -0.02723918 -0.09813654 0.01362752
+v -0.01838834 -0.09765804 -0.01826497
+v -0.02351289 -0.09899802 0.01362752
+v -0.02351289 -0.09647570 -0.01826496
+v -0.02347355 -0.09648542 -0.01826496
+v -0.02023003 -0.09726327 -0.01826497
+v -0.02020500 -0.09726911 -0.01826497
+f 1 2 7
+f 1 7 11
+f 1 11 18
+f 1 18 23
+f 1 23 27
+f 1 27 31
+f 1 31 33
+f 1 33 28
+f 1 28 24
+f 1 24 19
+f 1 19 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 12
+f 4 12 15
+f 4 15 14
+f 4 14 21
+f 4 21 20
+f 4 20 25
+f 4 25 29
+f 4 29 32
+f 4 32 37
+f 4 37 36
+f 4 36 35
+f 4 35 34
+f 4 34 30
+f 4 30 26
+f 4 26 22
+f 4 22 17
+f 4 17 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 8 13 14
+f 8 14 15
+f 8 15 12
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 17 22 18
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 27 23
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 28 33 32
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 31 36 37
+f 31 37 33
+f 32 33 37
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_7.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac19b580b0c3ab545026fa1e3e380b4bde69a6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_7.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03669983 0.08817307 0.01567657
+v 0.03669983 0.08228975 -0.01826310
+v 0.03669983 0.09534940 0.01567660
+v -0.00013933 0.09535535 0.01567660
+v 0.03669983 0.09242862 -0.01826306
+v -0.00013933 0.08994596 -0.01826307
+v 0.03669983 0.09272407 -0.01489767
+v 0.03415348 0.09341812 -0.01826306
+v 0.03381085 0.09354701 -0.01826306
+v 0.03274686 0.09400705 -0.01746572
+v 0.02959818 0.09785585 0.01567661
+v -0.00013933 0.10254556 0.01567663
+v -0.00013933 0.09952365 -0.01826303
+v 0.03142318 0.09437391 -0.01826305
+v 0.03103006 0.09449884 -0.01826305
+v 0.02711314 0.09566680 -0.01826305
+v 0.02712396 0.09857568 0.01567661
+v 0.00180470 0.10253366 0.01567663
+v 0.00180470 0.09952564 -0.01826303
+v 0.00175060 0.09952564 -0.01826303
+v 0.02349919 0.09656111 -0.01826305
+v 0.02030724 0.09726506 -0.01826304
+v 0.01245178 0.10173849 0.01567662
+v 0.00541865 0.10241864 0.01567663
+v 0.00536815 0.09939873 -0.01826303
+v 0.01852551 0.09763985 -0.01826304
+v 0.01848584 0.09764777 -0.01826304
+v 0.01626770 0.09806221 -0.01826304
+v 0.01265375 0.09866107 -0.01826304
+v 0.00903981 0.10217871 0.01567663
+v 0.00541865 0.09939675 -0.01826303
+v 0.00903620 0.09912112 -0.01826304
+v 0.00898570 0.09912508 -0.01826304
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 11
+f 1 11 17
+f 1 17 23
+f 1 23 30
+f 1 30 24
+f 1 24 18
+f 1 18 12
+f 1 12 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 20
+f 2 20 19
+f 2 19 25
+f 2 25 31
+f 2 31 33
+f 2 33 32
+f 2 32 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 22
+f 2 22 21
+f 2 21 16
+f 2 16 15
+f 2 15 14
+f 2 14 9
+f 2 9 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 6
+f 5 8 7
+f 9 14 10
+f 10 14 11
+f 11 15 16
+f 11 16 17
+f 11 14 15
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 24 31 25
+f 24 30 31
+f 29 32 30
+f 30 32 33
+f 30 33 31
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_8.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f143004c47066e62a7c20dfe7d00706fa6221b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_8.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.09952177 0.00000075 -0.01826461
+v -0.10245282 0.00000062 0.01534359
+v -0.09001129 0.00000075 -0.01826461
+v -0.09952177 -0.00002605 -0.01826461
+v -0.10246074 -0.00182687 0.01534358
+v -0.09540785 0.00000062 0.01534359
+v -0.08628374 -0.04074536 0.01534344
+v -0.08628374 -0.02712215 -0.01826142
+v -0.08655610 -0.02560014 -0.01826470
+v -0.09952018 -0.00182674 -0.01826462
+v -0.10236573 -0.00495664 0.01534357
+v -0.08628374 -0.05474894 0.01534339
+v -0.08628374 -0.02853162 -0.01826471
+v -0.09951860 -0.00187497 -0.01826462
+v -0.09939509 -0.00548707 -0.01826463
+v -0.10234198 -0.00547112 0.01534357
+v -0.08766614 -0.05252488 0.01534340
+v -0.08628374 -0.04957183 -0.01826479
+v -0.09916865 -0.00905094 -0.01826464
+v -0.10201578 -0.00926008 0.01534356
+v -0.09068744 -0.04734789 0.01534342
+v -0.08727659 -0.04786760 -0.01826479
+v -0.09916390 -0.00910453 -0.01826464
+v -0.09872686 -0.01266839 -0.01826466
+v -0.10155498 -0.01266852 0.01534354
+v -0.09079829 -0.04714960 0.01534342
+v -0.08874450 -0.04522015 -0.01826478
+v -0.09871894 -0.01271663 -0.01826466
+v -0.09811879 -0.01628049 -0.01826467
+v -0.09811246 -0.01631801 -0.01826467
+v -0.09771816 -0.01849384 -0.01826468
+v -0.09738405 -0.02027310 -0.01826468
+v -0.09879811 -0.02663995 0.01534349
+v -0.09436115 -0.03985573 0.01534344
+v -0.09008413 -0.04269062 -0.01826477
+v -0.09006830 -0.04272278 -0.01826477
+v -0.08876508 -0.04518264 -0.01826478
+v -0.09670314 -0.02355828 -0.01826470
+v -0.09587972 -0.02712215 -0.01826471
+v -0.09867618 -0.02714908 0.01534349
+v -0.09509431 -0.03798001 0.01534345
+v -0.09352348 -0.03485011 -0.01826474
+v -0.09224560 -0.03800132 -0.01826475
+v -0.09095189 -0.04088457 -0.01826476
+v -0.09093922 -0.04091136 -0.01826476
+v -0.09490746 -0.03072889 -0.01826472
+v -0.09804912 -0.02947496 0.01534348
+v -0.09528591 -0.03747624 0.01534345
+v -0.09353932 -0.03480723 -0.01826474
+v -0.09420122 -0.03300119 -0.01826473
+v -0.09419172 -0.03302799 -0.01826473
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 22
+f 1 22 27
+f 1 27 37
+f 1 37 36
+f 1 36 35
+f 1 35 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 49
+f 1 49 51
+f 1 51 50
+f 1 50 46
+f 1 46 39
+f 1 39 38
+f 1 38 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 24
+f 1 24 23
+f 1 23 19
+f 1 19 15
+f 1 15 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 16
+f 2 16 20
+f 2 20 25
+f 2 25 33
+f 2 33 40
+f 2 40 47
+f 2 47 48
+f 2 48 41
+f 2 41 34
+f 2 34 26
+f 2 26 21
+f 2 21 17
+f 2 17 12
+f 2 12 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 7 12 18
+f 7 18 13
+f 7 13 8
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 21 26 22
+f 22 26 27
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 39 46 40
+f 40 46 47
+f 41 48 42
+f 42 48 49
+f 46 50 47
+f 47 50 48
+f 48 50 51
+f 48 51 49
+
diff --git a/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_9.obj b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61affa86c8c69788eab2ad9295540abc16753de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mjcf/mesh/bowl_collision_9.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.03654777 -0.10332798 0.02261813
+v -0.03654777 -0.10281917 0.02120043
+v -0.03654777 -0.10227963 0.02520764
+v -0.03798204 -0.10203375 0.02510181
+v -0.04075873 -0.10155227 0.02470729
+v -0.04125065 -0.10170934 0.02261814
+v -0.04077058 -0.10152153 0.02059102
+v -0.03798204 -0.10198593 0.02027241
+v -0.03654777 -0.10224205 0.02019648
+v -0.03654777 -0.09938385 0.02628643
+v -0.03798204 -0.09938385 0.02621159
+v -0.04521269 -0.09881356 0.02525257
+v -0.04306127 -0.10101954 0.02261814
+v -0.04819089 -0.09813059 0.02484201
+v -0.05060308 -0.09755691 0.02370442
+v -0.05066531 -0.09759104 0.02089894
+v -0.04883098 -0.09800082 0.02056644
+v -0.03829320 -0.09479085 0.01551467
+v -0.03654777 -0.09534747 0.01551467
+v -0.03654777 -0.09577095 0.02606620
+v -0.03798204 -0.09577095 0.02620947
+v -0.04159737 -0.09577095 0.02640299
+v -0.04521269 -0.09577095 0.02633563
+v -0.04916880 -0.09611925 0.02551559
+v -0.05244334 -0.09522799 0.02522050
+v -0.04916880 -0.09825010 0.02258822
+v -0.05066531 -0.09759104 0.02143032
+v -0.05515482 -0.09446647 0.02479498
+v -0.06182243 -0.09058038 0.02455657
+v -0.05747811 -0.09369812 0.02261817
+v -0.05567046 -0.09473623 0.02261816
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