diff --git a/.gitattributes b/.gitattributes
index ada3be286c33affa8f6fc4e0dc8eb37624dc217a..18cd3011da05cd9652c7a1d47a9d7ddf77f74215 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4054,6 +4054,6 @@ dataset/kitchen_supplies/storage/ffb796f163e05566a4c6ad1c21eaaf04/mesh/storage_b
dataset/kitchen_supplies/storage/ffb796f163e05566a4c6ad1c21eaaf04/storage_bin_068.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/mesh/storage_bin_062.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/storage_bin_062.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/0102b3824fb353b8b17882423eb26501.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/004a002a9daf56a4878eed146a6439ab.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/004a002a9daf56a4878eed146a6439ab.urdf b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/004a002a9daf56a4878eed146a6439ab.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb3908ce82539dc1f381b98a0dc8d11033be4e3c
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/004a002a9daf56a4878eed146a6439ab.usd b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/004a002a9daf56a4878eed146a6439ab.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6a451cb85c017134f9e40520f8b0025497b12042
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/004a002a9daf56a4878eed146a6439ab.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e544a8043b4261c590d63800990fad680f7a57e056630bd94de803b0b8867b5
+size 501945
diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/material.mtl b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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+newmtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/material_0.png b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.glb b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6f31435533cec794bd7a17a7437d048e2089fe48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3327b874654fcd990ec27f7c204a92b197c62ced7f8c392c1b01bf6a37b5c5ce
+size 2050168
diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e593b57ed1ace02f78a5403e481f33dce557c35
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl_collision.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d58c2eed2779198acdc0c443c8a9c569e4c37f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl_collision.obj
@@ -0,0 +1,12823 @@
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl_gs.ply b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mesh/metal_bowl_gs.ply
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6180ddc6b632cb1d3fa9609ba1f0b17af5d615fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision.obj
@@ -0,0 +1,12823 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0444d5e8772e6f668b7d0ddf47bbb6ba2f1d09ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_0.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62c16c6cc989e3a99f39e1baa7238f049ecfa96d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142c5db34ac36bfee4446ed714f450d3e66603c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81c10afc83e9598924092768c2c507920c38d76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_11.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2f09379a3ce9ba16fa4df1a7eb4e3984d7ee70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_12.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19139e182538fcba861d6a6d488e55e638428691
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_13.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad91756d843c58a48597110d6e9d4d00a1b5df1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1241ddc2450bfcb22071b115e78687fae3f292b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_15.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e7b98aecb21c37bbff1959e6c039d2ed251d0d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_16.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668aa9d0086746a775b190dc4d2f1240c17da8ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_17.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..891cd52d2f30b70e89082419ce875e8255f9994f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_18.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bcb70c13300ff8fd2ccbce10cec0c10622cbbfc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_19.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa252e17c0678525b683999f805c214f343aa65c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568c0796e21e970655500ad332fba4e88d994427
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2ba133723d8d9f3664801ffb305e76d4a4dd72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3014d1b99ed33746cc911ac173d067677af382bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6005e0ec0673ff69126b4ac7dec0f08f826ff379
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_23.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabddd5ea6cc5932468cf60050f325b63dcfaa65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_24.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb35c09740d3108bff49c02825e190b2791c02d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_25.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d493dfc75e8b678576c60c7522f30e9af906ec01
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_26.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832ebdd5cb7cc12de89a05e55f11091974534029
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_27.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02093743 0.05324669 -0.02074913
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f26c8d7c244a70a18368546c724ef12c2c11403
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_28.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6780e4c706bba4ecd63adc14191f8beaf228ad4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_29.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.09078963 0.04290626 0.02527244
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4149c8bea8c365d65721ae2c015917c091d2395
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8bec8448d527288f1e8712662e45e0abe43ade
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_30.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e14539c9aa4c29dbe5f13e271e207a73d0b449ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_31.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33770b5c19203054fda3a7120a96dfc5219beddc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d3068fc6ea2887f87227ea05defbf033e9d5cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_5.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18afd9c38221a227427922a033d9d2e120a0533f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_6.obj
@@ -0,0 +1,784 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0284419ff3ae4438da35a194403a077dc2a5341
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_7.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb05cf73e3f1c8b5eef2da6be629b05e72f41c25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_8.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353254c572c670715d0330cd6250e678eed9485d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/mjcf/mesh/metal_bowl_collision_9.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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