diff --git a/.gitattributes b/.gitattributes
index 8c8c747e3b2bc81c5841936ba3b3d2219a908457..f2d6849051847f64d8aab0ff358457eee17830ac 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4436,3 +4436,6 @@ dataset/kitchen_supplies/tableware/eef3b4e04d1759529454055bf5d724b1/mesh/tray_02
 dataset/kitchen_supplies/tableware/eef3b4e04d1759529454055bf5d724b1/tray_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.urdf b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c02447e5b558cbcea3d1f76a24f3edac0755577f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_bowl">
+   <link name="metal_bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_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/metal_bowl_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.319412</scale>
+         <version>v0.1.7</version>
+         <category>metal bowl</category>
+         <description>smooth golden metal bowl with a wide rim and curved base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119182530</generate_time>
+         <gs_model>mesh/metal_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.616486072540283</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/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.usd b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bfffac3cbf44df9cee96228a1465231155327b16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/f17ebe59e39f55e2be5bfe1e33792033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d17df58a769904448100f8b8f8e63a6104485a4e8204df67c8bb7316814957b3
+size 545396
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/material.mtl b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e369f47dcac8d79374b97a8f30982ee403f2973c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f71e895f2346d5151bef5219497b967d9aef662a9d3ae41b2a35d331bee31de5
+size 2049190
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.glb b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fc4202ac2a3757aaa0f084b22069f3421b17861c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4febf4a8065d5d3ccec5a1f8d392d56adbdbb35de5b3bbb2a04e524696dab3
+size 2416112
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c3cd9de708adde62967e0c8ccda821dd5c8973
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl.obj
@@ -0,0 +1,33460 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_collision.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de10c2a519d187d23a9d98a27868ba3b1b8446e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_gs.ply b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6fee0c2dad6ccc1853e58e5ac4e2be4c1a402990
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/f17ebe59e39f55e2be5bfe1e33792033.xml b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/f17ebe59e39f55e2be5bfe1e33792033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..210af80a3bb416c1fa597f3d979ea04d9d3fa1ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/f17ebe59e39f55e2be5bfe1e33792033.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="visual_mesh_0" file="mesh/metal_bowl.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_bowl_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_bowl_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_bowl_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_bowl_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_bowl_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_bowl_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_bowl_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_bowl_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_bowl_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/metal_bowl_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/metal_bowl_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_bowl_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_bowl_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_bowl_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_25" file="mesh/metal_bowl_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/metal_bowl_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f71e895f2346d5151bef5219497b967d9aef662a9d3ae41b2a35d331bee31de5
+size 2049190
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34247b7a769ebbd4d9b012e80b61bb53e207a14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl.obj
@@ -0,0 +1,33460 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..076a5425bbf46cb03325156ac8195e03efa6aefb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision.obj
@@ -0,0 +1,19235 @@
+# https://github.com/mikedh/trimesh
+
+o metal_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923f055fdb19717a861c39ced622213de42cbf8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb316fb74d8a06e454b0ec1d03074c4e96a0abc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49a13d04ebdd6c8c7ad433e102c8ab71a42460e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_10.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39dddbc76d35cd460651c119df747fce89884614
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_11.obj
@@ -0,0 +1,958 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b447e662eda00d723c3cefd8cd0746d91fe0fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_12.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28953c9e6e98033f4f35b5199188d171f6581348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c51bcb529418bb4900e926cf704ec8fc79b1ea7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3dd7ac98a66064752763c665165cdd6137ad5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c351efa3b694acf21c65ce084f56173fee9ace8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90941068e1a8eac5622fbe869ef116848f87d859
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8dbbfff841389b0de8eb9de087717e057a78bb9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356d1f2c261d598f59a06018bfedfd7bcb048ea4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_19.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11145b4a6db86a36f0ab226808d607a9585c9369
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_2.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21715f4e1d77c368a4789f17aa6a5736e190658c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_20.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29ab2958f5329d51968aea3f6cc17275ba87761
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_21.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3a5026760c8657f304026840a4972121a42ed9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_22.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c78a57fec7b544ee22d71f9c9152338951ffc9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_23.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf285e324f0ba9596524f68a73087f682a51411
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6cff411baca56d7c1af4773be5f662f99ca29bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..408d8405219a137e981619bc2bf2f48452458ab2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_26.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c00478a2b4c631f8e87e98e610954b88fc7356d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b2db98e99696d74d896b7e6489f72f10bcb595f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_28.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b7891b1248358e5d03398516680fdd51f43c2d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_29.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c772abad503aa019a0414ddde5813e60db7f2de0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6da2910fb93222b1430e46aa4621e7655351265
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ee1bee7a881cd8d1316ff189a83996ab557e0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_31.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5399a015d23b1fc7a0cb26e27d08c603060aefa1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e76ad199732ad850ae7995e81be869f6420c8f82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_33.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95cb152885e3ad550753e822c37085574436e224
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_34.obj
@@ -0,0 +1,712 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb1ef939093d9dc0d6753feb59ef2da97cd5633
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b9ecc2148b459f66b95ec0eeb27f973b2b20e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_4.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724a311082e3b261503563361438e363bce598d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50872c5a6abc371d71365e041b83384d8535cace
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_6.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db10056b9d45cfe326a4d7142164d7b72c1e528
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_7.obj
@@ -0,0 +1,997 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cee381227722778d079e454c30ff0757af58bc9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_8.obj
@@ -0,0 +1,1114 @@
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mjcf/mesh/metal_bowl_collision_9.obj
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/textures/material_0.png b/dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/textures/material_0.png
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