diff --git a/.gitattributes b/.gitattributes
index c5eed04a4ccf5ca13591308e19cf53e86f6dde2d..1f255f51b5538db5604feea92b3c22611ab889ea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4057,3 +4057,6 @@ dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/mesh/tray_03
 dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/tray_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.urdf b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..084ad91ea319217b5251d676ffd28719982056d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.207840</scale>
+         <version>v0.1.7</version>
+         <category>metal bowl</category>
+         <description>rusted metal bowl with flared rim and cylindrical body</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260119183325</generate_time>
+         <gs_model>mesh/metal_bowl_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.419558048248291</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.usd b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.usd
new file mode 100644
index 0000000000000000000000000000000000000000..768a5e2cb35de0746feedf7182af18c23b432d28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf460136ac3bd55608b3e921554f0d8b879a4a2ea86193a2f7fa4364955e4ec
+size 864948
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/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/0ca4a834b2a6589594d16ffe11f61065/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d91a56a2668365d60344011357a3dd05deed9315
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0106ec208c6a99d47cf369cd95d253646476a5b16f07510fb5955955af2c6354
+size 1920988
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.glb b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.glb
new file mode 100644
index 0000000000000000000000000000000000000000..93389d320ecc2dd14aedc5144ec2c7261e06309b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df4a6b030e496412c78f5406a2afa2316499559030b2c0757adc13aee3a7c4e
+size 2499288
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8845b26f2f6f06771638935a36e23e75e55eb0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.obj
@@ -0,0 +1,52754 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl_collision.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf88c15366bfed23045f68c075e14b8e65c7810
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl_collision.obj
@@ -0,0 +1,12663 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/0ca4a834b2a6589594d16ffe11f61065.xml b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/0ca4a834b2a6589594d16ffe11f61065.xml
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de8233649e961fbd720fe0aac81407d82e3477b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl.obj
@@ -0,0 +1,52754 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436ac55b5f43d8cc3137a47312a5637a7f724c99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision.obj
@@ -0,0 +1,12663 @@
+# https://github.com/mikedh/trimesh
+
+o metal_bowl_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_0.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941557d24155927a16ba8edd151254229a239064
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_1.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646c2f67f35e5e75729382c07a477a66e909e7a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_10.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb3b5e4e2f693d5661abe3dd5911c27a2988378
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_11.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb9de956ed8fedfaec142712ae07beebf3a1b0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_12.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401ba503058e31d6f191b2dd63318c42fca51f59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_12.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_13.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fe7a218c31764efb1a652f96f62dda28f78910
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_13.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.00125624 -0.07784898 -0.04798523
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_14.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f9fb76d26ac31be7849ea7bcceb77d1a136b06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_14.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_15.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de33e35eace51e5ca12e42d4f77dc109bc492dc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_15.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_16.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53a81960fc7442fb758dbcfe9e9efa9aa7e59a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_16.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_17.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44547002cb683b22b82979d6e002e610cd14ef2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_17.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_18.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c2cf4fc13ba6c6c5d8f379438668fa2bc4e401
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_19.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02373ac1914a1684ee48fe9d9afdf1acaecb495c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_19.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_2.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7ed08c21458e8501d33f390426c4a62d654f4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_2.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_20.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..626cbd2756b57ef57ce2e1ceb8cd22baeb81007e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_20.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_21.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c285d909ac099bccf5134f8ab0606d7cfd4fb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_21.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_22.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d95397e688eb837128c2a3098e8bf2e76c83fba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_22.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_23.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a472c361aca9ec555fe20ca2586ca8d9dcfee061
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_23.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_24.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6755026ed32059535701a4f5f378691aa21629
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_24.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_25.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0d709ef293cfce4f3df4f03958a3501566b27a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_25.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_26.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad20bdea10138bb76190d0a4dfd81cc2326e1459
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_26.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04504749 -0.04333274 -0.06060656
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_27.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20fb5b0d76df41af33ed1e86b3b3bceff0f9051
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_27.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_28.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e14bd4bb7469985d5af3ff24299f002aefb7d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_28.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_29.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0441ea90d49c6e8e8d3926505b1b04c2904e6e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_29.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_3.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49cdfe47205eeef2e5dcc0de42702d97a82a6ff5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_3.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_30.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f6d22c15759af0fcf1024d7568b57901dff463
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_30.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.08283469 0.02786717 0.04540222
+v -0.07687568 0.02786717 0.04540222
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_31.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a881bf68a022999637f7c6b2b7500ac1217ac0fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_31.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_32.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc8bea3e6430b48207044e9ac0b4470a4ac3967
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_33.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e1dfdbe60a832740c36a042e6b846735de9ff3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_34.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d48628ea17ddddcb8f3b5b6fff856f063bc2ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_34.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_35.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e8ed6d53f882fde6d9b91635795dc445f45678c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_35.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.09220877 -0.00169029 0.05175101
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_36.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2352471f540b55e735128687a4a504aadbbb454
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_36.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_37.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8241cabbf37666161b77c62337dae477d9f9b502
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_37.obj
@@ -0,0 +1,268 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_38.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450e6f8d4666afb708acb59657e6279493f2d3f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_38.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_39.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c4f86d00fca8fece28125cb0c712a1c104a42e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.04652591 -0.06683919 -0.05300752
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_4.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28186c2f4e79225ee9f1465b2884b7345a3bbbe0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_4.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_40.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8ca67c540dd1563fb18583b3c785295ed616f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_40.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_41.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5e1f212e7b12c18105cb2ec25c1b4f5b5db7fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_41.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_42.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4136ba1d358925b1bae0a186e1ca214e20585942
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_42.obj
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_5.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ab733fdac7e6152d2cc218cb96efdc2a2150ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_5.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_6.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f56c66462d548073ec53f584d4a3d012b7af67c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_6.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_7.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0a0779134b6a6df947d9da206dcb210ae01cb71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_7.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_8.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc697e651e44cecfda67474fa5829e1176578382
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_9.obj b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecdb853cc82637fb9b7b1d94aa33598f76764b45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mjcf/mesh/metal_bowl_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/textures/material_0.png b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d91a56a2668365d60344011357a3dd05deed9315
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1920988
diff --git a/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/video.mp4 b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb7e8cd148811607f73ada5e067fc86fa8ba759a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/video.mp4
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