diff --git a/.gitattributes b/.gitattributes
index 0b9e15493386318b7c6bfe1b080e573be7e726f6..3ce86f15824470052e4790fcd2d3f158e6da3a42 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3855,3 +3855,6 @@ dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot
dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.urdf b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0a740a8ca4844785df4d06569507545724b79fe5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.urdf
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+ cylindrical cooking pot with two side handles and a flat base
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+ 1.5
+ 2.5
+ 20260120050417
+ mesh/pot_gs.ply
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.usd b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.usd
new file mode 100644
index 0000000000000000000000000000000000000000..539b3bbc8cec32531a5243cc7298554612a6bd07
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.usd
@@ -0,0 +1,3 @@
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+oid sha256:e6fc4d3a37d12cdbd1e79ba7776c541199e92d83f031881c924a9087e937aebc
+size 730189
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/material.mtl b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/material_0.png b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.glb b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e9086a99ea8b4fbde3e457ad9af0c90e5536817d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123eed0cc2422c86109942b12c2046e0bbba30900704ae9b1a4078d949043e69
+size 2054664
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb627c17f34ae49d8324f320ec646edac46e9e91
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5868a75bbdd446aaf4c743a8ff5634e4fe136a42
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_collision.obj
@@ -0,0 +1,19028 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.ply b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.ply
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index 0000000000000000000000000000000000000000..7902035dadb1963c545c65b4f9426c06a706369d
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2615beeeda46d80826c230ba127dcbb4584bf4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision.obj
@@ -0,0 +1,19028 @@
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_0.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0decf38991e74428d753edc671a0865551dcd51e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_1.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739feb931211efcb1885d21e0b4723350628f213
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_10.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8ecf9753ca52bd0645cdc6eb8cdb5510af28c2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_11.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dfd8488f22e9453000884f0478596fda880b290
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_12.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b5672ab5f13f5a0dd6f3a81c290ce5809557e4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00112838 0.06630772 -0.07579883
+v -0.03038878 0.05884362 -0.07579885
+v 0.00112838 0.08241638 -0.07579877
+v 0.00112838 0.08792992 -0.05231894
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+v -0.03038878 0.08116319 -0.05231896
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_13.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203ba140170362ccdac694fe5d322eb8461d219e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.08712001 -0.03359255 -0.05238054
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+v 0.08709004 -0.03359255 -0.05249066
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_14.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f425dc07fb7abb02db36571cd820ad89f6fd48d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_14.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_15.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5be5f1b6f7a1ba9d33f9a5460d9c3da630ea379
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_15.obj
@@ -0,0 +1,763 @@
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_16.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d864a0c65a888da189a8d4476703c0893e907a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_16.obj
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_17.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fcb3914e6d64e8cf58520577f6ab59243f1427
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_17.obj
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_18.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e27c3c91e9a5ff97c230ef2f3401365752c95b3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_18.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.09163376 -0.00014700 0.03236698
+v -0.08472616 -0.00014700 0.03236698
+v -0.09163634 -0.00217303 0.03236697
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+v -0.07563776 -0.06329413 0.07023234
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_19.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89bca9e7ac787810a4505228a6f96a8433b6f10a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.02575028 0.09155037 -0.05231892
+v -0.02575028 0.08292136 -0.05231896
+v -0.02575028 0.09177198 -0.05168344
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+v -0.01788875 0.09409613 -0.05049642
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_2.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2b0212d855e788d99ec2c0c286eefc13e3c267f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v -0.05933068 0.06160589 0.04122402
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+v -0.05873379 0.07303685 0.03283377
+v -0.05933068 0.07736662 0.04206310
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_20.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104692ba7ba7a44c57b03153b3afa131e8f5f3bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_20.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_21.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4e0c3377a69e04498354d20e0fca27da9a87cf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_21.obj
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_22.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3602666b4b07b32415f38eeafaae6e8cd28b7f94
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_22.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_23.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c73e55060804789cec11b438464b401aa0fd2b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.08784242 0.03189309 -0.05233070
+v 0.08741525 0.03189310 -0.05375472
+v 0.08566459 0.03670663 -0.05474093
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_24.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3548228613b125009aeefbb605c3759b98b6ce02
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_24.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_25.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64d06582121f09a5bb58e0d08a5e01aad42a9eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_25.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_26.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd0fd820e2dc14ebbf616bacdf96c2b5434a92da
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_27.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b84a3593d03d57aa4702c2600aea1ad8fd25a72
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_27.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_28.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5974eae6319db2a948b83aef40266c8bdebd68
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_28.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_29.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0387eab9d89c0255f13929ce958fd3e81516f27
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_29.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00286376 0.08471301 -0.07144629
+v 0.00732190 0.08457138 -0.07144629
+v 0.00286376 0.08243349 -0.07586839
+v 0.00146249 0.08239365 -0.07586839
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_3.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9551c53e51a34b1fe4b7facb152b2ef2921d31
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_3.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_30.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bdbab9ca7446106da02563110f3151f62f7461f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_30.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_31.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6eecd641db60179142a481df4deab9e16e7e81
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_31.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_32.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1cf6e31bd7bebe03aa74ad6e9474d126b93fa2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_32.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_33.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a02b077d1b999ce31931c96789ec5b31c4b5b759
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_33.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+f 28 35 34
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_34.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..825eda201d7bdc9646e9dbf4ca02d80e1ad2e4eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_34.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.04618613 -0.07473997 0.05746029
+v -0.04618613 -0.08360698 0.05746025
+v -0.04618613 -0.07475162 0.05845364
+v 0.00047393 -0.08909678 0.05746023
+v -0.04618613 -0.08819641 0.06305885
+v -0.03226941 -0.10450844 0.05746018
+v -0.04618613 -0.07475746 0.05891974
+v 0.00047393 -0.08913759 0.05891968
+v 0.00047393 -0.09718870 0.05746020
+v -0.04618613 -0.08847323 0.06340673
+v -0.03249778 -0.10450844 0.05843858
+v -0.02205225 -0.10450844 0.05746018
+v -0.04618613 -0.07539270 0.06133990
+v 0.00047393 -0.08927455 0.06135344
+v 0.00047393 -0.08921044 0.06022964
+v 0.00047393 -0.10006184 0.06312131
+v -0.04618613 -0.08959511 0.06776738
+v -0.03309610 -0.10450846 0.06286311
+v 0.00047393 -0.10158874 0.06776734
+v -0.02149960 -0.10450845 0.05891963
+v -0.04618613 -0.07639800 0.06334154
+v 0.00047393 -0.09005548 0.06253839
+v -0.04618613 -0.08916676 0.06894146
+v -0.03305500 -0.10450846 0.06334416
+v -0.03209585 -0.10450848 0.06816141
+v -0.03208672 -0.10450848 0.06819538
+v -0.02060897 -0.10450846 0.06294465
+v 0.00047393 -0.10068834 0.06893598
+v -0.02480179 -0.10450849 0.07090772
+v -0.02226235 -0.10450848 0.06872263
+v -0.02091498 -0.10450848 0.06678485
+v -0.04618613 -0.07682343 0.06390276
+v 0.00047393 -0.09074025 0.06356571
+v -0.04618613 -0.08697551 0.07022833
+v -0.03098599 -0.10450849 0.07052858
+v -0.04465607 -0.08971458 0.07021745
+v 0.00047393 -0.09963643 0.07028671
+v -0.02872972 -0.10450849 0.07134120
+v -0.04618613 -0.07929152 0.06628080
+v 0.00047393 -0.09297522 0.06606196
+v -0.04618613 -0.08673366 0.07022833
+v -0.02881193 -0.10450849 0.07132082
+v -0.02877539 -0.10450849 0.07133033
+v 0.00047393 -0.09788809 0.07028672
+v -0.04169642 -0.08838001 0.07031530
+v -0.04618613 -0.08271828 0.06870640
+v -0.04618613 -0.08480174 0.07005849
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 23
+f 1 23 34
+f 1 34 41
+f 1 41 47
+f 1 47 46
+f 1 46 39
+f 1 39 32
+f 1 32 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 15
+f 4 15 14
+f 4 14 22
+f 4 22 33
+f 4 33 40
+f 4 40 44
+f 4 44 37
+f 4 37 28
+f 4 28 19
+f 4 19 16
+f 4 16 9
+f 4 7 8
+f 5 6 10
+f 6 11 10
+f 6 12 20
+f 6 20 27
+f 6 27 31
+f 6 31 30
+f 6 30 29
+f 6 29 38
+f 6 38 43
+f 6 43 42
+f 6 42 35
+f 6 35 26
+f 6 26 25
+f 6 25 24
+f 6 24 18
+f 6 18 11
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 12
+f 10 11 17
+f 11 18 17
+f 12 16 19
+f 12 19 20
+f 13 21 14
+f 14 21 22
+f 17 18 24
+f 17 24 25
+f 17 25 26
+f 17 26 23
+f 19 27 20
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 27
+f 21 32 33
+f 21 33 22
+f 23 26 35
+f 23 35 36
+f 23 36 34
+f 28 37 29
+f 29 37 38
+f 32 39 40
+f 32 40 33
+f 34 36 38
+f 34 38 41
+f 35 42 36
+f 36 42 43
+f 36 43 38
+f 37 44 38
+f 38 45 41
+f 38 44 45
+f 39 46 44
+f 39 44 40
+f 41 45 47
+f 44 46 47
+f 44 47 45
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_35.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69926a8dea464228d2d62b62bfb5af597288b593
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_35.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01992693 0.09689587 0.07013995
+v -0.02182787 0.09689587 0.07013995
+v -0.01876232 0.09689587 0.07009595
+v -0.02541485 0.12016575 0.07905475
+v -0.02694613 0.09689587 0.07010371
+v -0.02673274 0.12016575 0.07905475
+v -0.01803200 0.12154352 0.07219210
+v -0.01876232 0.09698033 0.07011665
+v -0.02214043 0.12154592 0.07846217
+v -0.02463644 0.12154592 0.07939117
+v -0.01876232 0.09689591 0.05856244
+v -0.02983134 0.09689588 0.06874516
+v -0.03071043 0.11149625 0.07454172
+v -0.02527360 0.12154592 0.07939117
+v -0.02704530 0.12154592 0.07925402
+v -0.02826250 0.11861426 0.07780229
+v -0.01803501 0.12154594 0.07218433
+v -0.01803501 0.12154594 0.07219987
+v -0.01950917 0.12154593 0.07593137
+v -0.01876232 0.09739293 0.07021757
+v -0.01927926 0.09689594 0.05295741
+v -0.01974811 0.12154593 0.07649032
+v -0.03188856 0.09689588 0.06686647
+v -0.03074800 0.11175926 0.07458830
+v -0.02915963 0.12154592 0.07790063
+v -0.03107108 0.11405391 0.07498423
+v -0.01967748 0.12154596 0.06757817
+v -0.03108461 0.09689594 0.05295741
+v -0.02124932 0.10351932 0.05295743
+v -0.03323049 0.10958285 0.06776703
+v -0.03338377 0.10511420 0.06334718
+v -0.03210796 0.09689590 0.06289171
+v -0.03165865 0.10983860 0.07228779
+v -0.03200577 0.11175926 0.07224382
+v -0.03241902 0.11405392 0.07219207
+v -0.03017847 0.12154593 0.07718642
+v -0.03137764 0.11852500 0.07560013
+v -0.02000056 0.12154596 0.06696747
+v -0.03175782 0.09726028 0.05295741
+v -0.02292786 0.10505875 0.05295744
+v -0.02082406 0.12154597 0.06624550
+v -0.03300808 0.11175928 0.06776704
+v -0.03237394 0.11852501 0.07219209
+v -0.03313732 0.10051045 0.05295742
+v -0.03238747 0.09830507 0.05295741
+v -0.03126193 0.12154593 0.07569331
+v -0.02391665 0.10565714 0.05295744
+v -0.02207882 0.12154597 0.06564773
+v -0.03277216 0.11405394 0.06776964
+v -0.03173378 0.12154595 0.07202649
+v -0.03201028 0.10487055 0.05295744
+v -0.03110414 0.12154596 0.06891862
+v -0.02737440 0.10631345 0.05295744
+v -0.02387607 0.12154597 0.06538378
+v -0.02919869 0.12154596 0.06684068
+v -0.02697618 0.12154597 0.06552611
+v -0.02678083 0.12135052 0.06528286
+v -0.02833013 0.10643892 0.05295744
+v -0.03072696 0.12154596 0.06841143
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 32
+f 1 32 28
+f 1 28 21
+f 1 21 11
+f 1 11 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 11 7
+f 4 10 14
+f 4 14 6
+f 5 6 13
+f 5 13 12
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 7 11 21
+f 7 21 17
+f 8 20 9
+f 9 22 19
+f 9 19 18
+f 9 18 17
+f 9 17 27
+f 9 27 38
+f 9 38 41
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+f 13 16 24
+f 13 24 23
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+f 15 26 16
+f 16 26 24
+f 17 21 27
+f 19 22 20
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+f 21 39 45
+f 21 45 44
+f 21 44 51
+f 21 51 58
+f 21 58 53
+f 21 53 47
+f 21 47 40
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+f 21 29 27
+f 23 30 31
+f 23 31 32
+f 23 24 26
+f 23 26 33
+f 23 33 34
+f 23 34 35
+f 23 35 30
+f 25 36 26
+f 26 36 37
+f 26 37 35
+f 26 35 34
+f 26 34 33
+f 27 29 38
+f 28 32 39
+f 29 40 41
+f 29 41 38
+f 30 42 31
+f 30 35 43
+f 30 43 42
+f 31 44 32
+f 31 42 44
+f 32 44 45
+f 32 45 39
+f 35 37 43
+f 36 46 37
+f 37 46 43
+f 40 47 48
+f 40 48 41
+f 42 43 49
+f 42 49 44
+f 43 46 50
+f 43 50 49
+f 44 49 52
+f 44 52 51
+f 47 53 48
+f 48 53 54
+f 49 50 52
+f 51 55 56
+f 51 56 57
+f 51 57 58
+f 51 52 59
+f 51 59 55
+f 53 58 54
+f 54 57 56
+f 54 58 57
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_36.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35f862fdc495426d3ffc0cc29ebc6e4b701a00c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_36.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02833066 -0.05960509 -0.07580166
+v -0.02833066 -0.06940229 -0.07122809
+v -0.02769626 -0.05965478 -0.07580166
+v -0.02833066 -0.07660792 -0.07580172
+v -0.01980996 -0.06068345 -0.07580166
+v -0.02833066 -0.07902555 -0.07122813
+v 0.00047393 -0.07656321 -0.07122812
+v 0.00047393 -0.06521554 -0.07580168
+v -0.02783723 -0.07682905 -0.07580172
+v -0.02395189 -0.07840684 -0.07580173
+v -0.02389268 -0.08077230 -0.07122814
+v 0.00047393 -0.08498635 -0.07122815
+v 0.00047393 -0.08285695 -0.07580174
+v -0.02007782 -0.07979331 -0.07580173
+v -0.01912199 -0.08232773 -0.07122814
+v -0.00104017 -0.08498139 -0.07122815
+v -0.00159563 -0.08286192 -0.07580174
+v -0.01768120 -0.08056605 -0.07580174
+v -0.01701860 -0.08074743 -0.07580174
+v -0.01496314 -0.08128164 -0.07580174
+v -0.01496314 -0.08338372 -0.07122815
+v -0.00159563 -0.08497641 -0.07122815
+v -0.00617741 -0.08262090 -0.07580174
+v -0.01338137 -0.08160217 -0.07580174
+v -0.01050824 -0.08215874 -0.07580174
+v -0.01050824 -0.08421610 -0.07122815
+v -0.00605335 -0.08470558 -0.07122815
+v -0.00824978 -0.08240472 -0.07580174
+f 1 2 3
+f 1 3 5
+f 1 5 8
+f 1 8 13
+f 1 13 17
+f 1 17 23
+f 1 23 28
+f 1 28 25
+f 1 25 24
+f 1 24 20
+f 1 20 19
+f 1 19 18
+f 1 18 14
+f 1 14 10
+f 1 10 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 15
+f 2 15 21
+f 2 21 26
+f 2 26 27
+f 2 27 22
+f 2 22 16
+f 2 16 12
+f 2 12 7
+f 2 7 8
+f 2 8 5
+f 4 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
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+f 20 24 21
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+f 22 27 23
+f 23 27 28
+f 25 28 27
+f 25 27 26
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_37.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ecc8727601416eba58ef8fc1a314d98a936532b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_37.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00047393 -0.08922021 0.01464476
+v 0.00047393 -0.09695904 0.01464473
+v 0.00047393 -0.08897149 0.03032063
+v 0.02067359 -0.08720740 0.01465023
+v 0.01625930 -0.08791414 0.01464477
+v 0.00283243 -0.09696186 0.01464473
+v 0.00047393 -0.10159123 0.06776276
+v 0.00047393 -0.08890790 0.03474260
+v 0.02067359 -0.08986899 0.01464476
+v 0.00047393 -0.08882876 0.04122559
+v 0.02068744 -0.08715098 0.04564211
+v 0.02068744 -0.08717216 0.04122560
+v 0.02068744 -0.08718770 0.03830853
+v 0.00286409 -0.09696186 0.01464473
+v 0.00286211 -0.10155730 0.06776276
+v 0.00286211 -0.09961660 0.07028181
+v 0.00047393 -0.10068801 0.06893504
+v 0.02067359 -0.09482608 0.01464474
+v 0.00047393 -0.08883727 0.04564210
+v 0.02068744 -0.08716230 0.05006952
+v 0.02068744 -0.09635274 0.03830850
+v 0.00728629 -0.09677811 0.01464473
+v 0.00731795 -0.10132407 0.06776276
+v 0.02068349 -0.09881798 0.07031453
+v 0.01622765 -0.09902718 0.07034725
+v 0.01176983 -0.09926182 0.07031998
+v 0.00731795 -0.09947101 0.07028726
+v 0.00047393 -0.09963780 0.07028181
+v 0.02065183 -0.09483033 0.01464474
+v 0.02068744 -0.09987243 0.06776276
+v 0.00047393 -0.08892350 0.05006951
+v 0.02068349 -0.08727966 0.05891889
+v 0.02068349 -0.08719765 0.05449148
+v 0.02068744 -0.08719765 0.05449148
+v 0.00731795 -0.09677529 0.01464473
+v 0.01176983 -0.10091700 0.06776276
+v 0.02068744 -0.09881515 0.07031453
+v 0.01622765 -0.09761511 0.07034725
+v 0.00047393 -0.09788791 0.07028182
+v 0.01622765 -0.09566853 0.01464474
+v 0.01177181 -0.09633993 0.01464474
+v 0.00047393 -0.08902105 0.05449147
+v 0.00047393 -0.08913839 0.05891888
+v 0.00047393 -0.08921190 0.06022748
+v 0.00047393 -0.08927692 0.06135068
+v 0.02068349 -0.08834685 0.06292646
+v 0.02068744 -0.08834543 0.06292101
+v 0.02068744 -0.08727966 0.05891344
+v 0.00047393 -0.08908043 0.05686330
+v 0.02068744 -0.09741439 0.07031453
+v 0.02068744 -0.09517825 0.06924586
+v 0.02068744 -0.09194277 0.06703761
+v 0.02068349 -0.08971088 0.06513471
+v 0.00047393 -0.09297743 0.06605617
+v 0.00047393 -0.09005858 0.06253387
+v 0.02068744 -0.08971088 0.06513471
+v 0.00047393 -0.09074129 0.06355894
+f 1 2 7
+f 1 7 17
+f 1 17 28
+f 1 28 39
+f 1 39 54
+f 1 54 57
+f 1 57 55
+f 1 55 45
+f 1 45 44
+f 1 44 43
+f 1 43 49
+f 1 49 42
+f 1 42 31
+f 1 31 19
+f 1 19 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 29
+f 1 29 40
+f 1 40 41
+f 1 41 35
+f 1 35 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 14 15
+f 9 13 21
+f 9 21 18
+f 10 19 11
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+f 11 30 21
+f 11 21 13
+f 11 13 12
+f 14 22 15
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+f 16 26 25
+f 16 25 28
+f 16 28 17
+f 18 21 30
+f 18 30 29
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+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 22 35 23
+f 23 36 24
+f 23 35 36
+f 24 37 25
+f 24 36 30
+f 24 30 37
+f 25 38 39
+f 25 39 28
+f 25 37 50
+f 25 50 38
+f 29 30 40
+f 30 36 41
+f 30 41 40
+f 31 42 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 34
+f 32 34 33
+f 32 42 49
+f 32 49 43
+f 35 41 36
+f 38 50 39
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 45 55 53
+f 45 53 46
+f 46 53 56
+f 46 56 47
+f 52 56 53
+f 53 55 57
+f 53 57 54
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_38.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cdebfe3de3ac99a2cd49244a4b55fc4f285c9fa
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.07301722 0.04761669 0.04122551
+v 0.07301722 0.04761992 0.04007713
+v 0.07301722 0.04762638 0.04448478
+v 0.06070252 0.06383790 0.05449500
+v 0.07301722 0.04763287 0.03622044
+v 0.07301722 0.04763606 0.04564975
+v 0.06070252 0.06391223 0.05891925
+v 0.06070252 0.06399637 0.03622051
+v 0.07301722 0.06135856 0.03622050
+v 0.07301722 0.04769424 0.04879288
+v 0.07301722 0.04772011 0.05007401
+v 0.07301722 0.04780737 0.05303458
+v 0.07301722 0.04785262 0.05449495
+v 0.07301722 0.04803363 0.05891920
+v 0.06070252 0.06397689 0.05937064
+v 0.06070252 0.07425993 0.03622054
+v 0.07199380 0.06272272 0.03622050
+v 0.07258085 0.07236881 0.04688121
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_39.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca725379ad3e2d3815fc2a062c608f5b5bb1f7cc
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_39.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.03679873 -0.10325312 0.05342321
+v 0.04579475 -0.10301361 0.04804757
+v 0.04722612 -0.10076632 0.04827985
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_4.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20dc83262ebc32fbee9d41730e3696b1bd419a1a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_4.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.04618613 -0.07277241 -0.05237324
+v 0.00047393 -0.08798408 -0.05237329
+v -0.04618613 -0.08253039 -0.05237327
+v -0.04618613 -0.07475418 0.03090234
+v 0.00047393 -0.08896311 0.03090228
+v 0.00047393 -0.09643530 -0.05237332
+v -0.04379284 -0.08404249 -0.05237328
+v -0.04337264 -0.08454919 -0.05168040
+v -0.04618613 -0.08275707 -0.05171299
+v -0.04618613 -0.08284805 0.03090231
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+v -0.00100133 -0.09642997 -0.05237332
+v 0.00047393 -0.09665665 -0.05168045
+v -0.00159508 -0.09665131 -0.05168045
+v -0.04099762 -0.08576794 -0.05237329
+v -0.04615416 -0.08278374 -0.05168039
+v -0.04618613 -0.08276241 -0.05168854
+v -0.04114378 -0.08585327 -0.05168041
+v -0.03079873 -0.09866242 0.03090225
+v -0.04618613 -0.08294669 0.02351707
+v -0.02482920 -0.09963848 0.03090224
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+v -0.00605282 -0.09641397 -0.05168044
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_40.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b157d37ce2d0c68b03a4b260ba29ac64b41bad
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_40.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v 0.00285764 -0.13181573 0.08168642
+v 0.00047464 -0.13181573 0.08168015
+v 0.00047464 -0.13181712 0.08168015
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+v -0.00158933 -0.13181712 0.08167231
+v -0.00158933 -0.13495307 0.07990796
+v 0.00731764 -0.13494196 0.07990796
+v -0.00158933 -0.13600209 0.07661454
+v 0.01177112 -0.13181573 0.08166604
+v 0.02513809 -0.12734869 0.08084426
+v -0.02455343 -0.12190764 0.07940615
+v -0.02753545 -0.12190764 0.07935439
+v -0.02784146 -0.12287746 0.07950181
+v -0.02798470 -0.12734868 0.07984995
+v -0.02713177 -0.13065138 0.07952217
+v -0.02385676 -0.13201164 0.08008676
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_41.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e106ceb7da9ad4757785c84d7f3244a1117c2c40
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_41.obj
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+f 79 83 80
+f 80 83 82
+f 84 94 85
+f 85 94 86
+f 86 94 95
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+f 89 97 90
+f 90 97 91
+f 91 97 92
+f 94 96 95
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_42.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2a4a5de59236a45d2c578a22ee599f20e84cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_42.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02071884 -0.12180619 0.07213493
+v 0.02120465 -0.12180618 0.06868267
+v 0.02587987 -0.12180622 0.07837678
+v 0.02071884 -0.12180483 0.07213949
+v 0.02466071 -0.10793104 0.06334492
+v 0.02485750 -0.10793104 0.06182602
+v 0.02639335 -0.10793102 0.05779762
+v 0.02696987 -0.10793102 0.05709851
+v 0.02758483 -0.10793102 0.05666812
+v 0.02536177 -0.12180617 0.06613447
+v 0.02657169 -0.12180622 0.07901668
+v 0.02725276 -0.11147999 0.07452605
+v 0.02662088 -0.10793107 0.07139260
+v 0.02623500 -0.10793107 0.07061836
+v 0.02502968 -0.10793106 0.06784926
+v 0.02457769 -0.10793105 0.06625065
+v 0.02959728 -0.10793102 0.05586199
+v 0.02608126 -0.12180617 0.06578377
+v 0.02875478 -0.12180622 0.07912371
+v 0.02736191 -0.12062189 0.07883451
+v 0.02959728 -0.11104266 0.07477199
+v 0.02959728 -0.10880846 0.07341706
+v 0.02959728 -0.10793108 0.07284319
+v 0.03275201 -0.10793102 0.05614208
+v 0.02959728 -0.12180617 0.06572456
+v 0.02749105 -0.12180617 0.06566764
+v 0.02666393 -0.12119906 0.06529417
+v 0.02995395 -0.12180622 0.07908500
+v 0.03071804 -0.12082697 0.07880036
+v 0.02774933 -0.12062189 0.07883451
+v 0.02937897 -0.11884132 0.07811264
+v 0.02959728 -0.11393694 0.07611098
+v 0.03231846 -0.11104537 0.07477199
+v 0.03058889 -0.10793108 0.07266785
+v 0.03467682 -0.10793103 0.05874722
+v 0.03243530 -0.12180618 0.06698387
+v 0.03188338 -0.12071827 0.06551279
+v 0.03205096 -0.12180622 0.07779610
+v 0.03333007 -0.11840534 0.07624077
+v 0.03292727 -0.11393694 0.07543237
+v 0.03358373 -0.10952014 0.07232171
+v 0.03327933 -0.10793107 0.07171141
+v 0.03562539 -0.10793103 0.06040504
+v 0.03304103 -0.12180618 0.06786970
+v 0.03309946 -0.12180621 0.07689887
+v 0.03515033 -0.11840533 0.07219188
+v 0.03499352 -0.11393693 0.07219189
+v 0.03618808 -0.10793106 0.06671065
+v 0.03639870 -0.10793104 0.06268453
+v 0.03438779 -0.11840531 0.06776725
+v 0.03455844 -0.12180620 0.07219186
+v 0.03640484 -0.10793105 0.06598650
+v 0.03641868 -0.10813204 0.06334492
+v 0.03640484 -0.10826652 0.06598650
+v 0.03642484 -0.10793104 0.06334948
+f 1 2 10
+f 1 10 18
+f 1 18 26
+f 1 26 25
+f 1 25 36
+f 1 36 44
+f 1 44 51
+f 1 51 45
+f 1 45 38
+f 1 38 28
+f 1 28 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 9 10
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+f 3 12 4
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+f 4 12 13
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+f 5 23 34
+f 5 34 42
+f 5 42 48
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+f 5 55 49
+f 5 49 43
+f 5 43 35
+f 5 35 24
+f 5 24 17
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+f 24 35 36
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+f 28 38 29
+f 29 31 30
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+f 33 40 41
+f 33 41 42
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+f 38 45 39
+f 39 45 46
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+f 39 47 40
+f 40 47 41
+f 41 47 48
+f 41 48 42
+f 43 49 50
+f 43 50 44
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+f 46 54 52
+f 47 52 48
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+f 49 53 51
+f 49 51 50
+f 52 54 55
+f 53 55 54
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_43.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c5c57f9c9441affd38df2a1ac58424f06eadc0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_43.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.04584271 0.09494094 0.04122381
+v -0.04584271 0.09501929 0.04100274
+v -0.04584271 0.09539295 0.04587177
+v -0.05011490 0.08352952 0.04122377
+v -0.04584271 0.09654819 0.03837711
+v -0.05078156 0.08352953 0.03812441
+v -0.04584271 0.09547533 0.04607869
+v -0.05036867 0.08352950 0.04603073
+v -0.04584271 0.10087971 0.03814298
+v -0.05104718 0.08352953 0.03744050
+v -0.04584271 0.09737186 0.04828832
+v -0.05431607 0.08352949 0.04836887
+v -0.04631477 0.10090582 0.03817457
+v -0.04584271 0.10172351 0.03833357
+v -0.05176250 0.08352953 0.03734903
+v -0.05061325 0.09617249 0.03805366
+v -0.04584271 0.09754865 0.04831882
+v -0.05465927 0.08352949 0.04847450
+v -0.05061325 0.09931868 0.03854374
+v -0.04584271 0.10307158 0.03890531
+v -0.05506821 0.08352953 0.03790443
+v -0.05520365 0.09150145 0.03833354
+v -0.05358629 0.09617249 0.03857530
+v -0.04584271 0.10077319 0.04836783
+v -0.05507479 0.09149338 0.04821970
+v -0.05783218 0.08352949 0.04825125
+v -0.04619380 0.10078323 0.04835694
+v -0.04790451 0.10257131 0.03951408
+v -0.05286703 0.09843871 0.03898805
+v -0.04584271 0.10368634 0.04024590
+v -0.05551791 0.08352953 0.03799046
+v -0.05769542 0.08723422 0.03864824
+v -0.05743639 0.08987613 0.03887150
+v -0.04584271 0.10099820 0.04835259
+v -0.05743112 0.08986202 0.04796921
+v -0.05767570 0.08723418 0.04813582
+v -0.04979011 0.09938694 0.04821646
+v -0.05359550 0.09533066 0.04814892
+v -0.05927070 0.08352950 0.04564631
+v -0.04584271 0.10136385 0.04829378
+v -0.04891963 0.10320616 0.04246424
+v -0.04631477 0.10389127 0.04108336
+v -0.05048833 0.10137191 0.04108335
+v -0.05677892 0.09285755 0.03995727
+v -0.05747846 0.09425183 0.04290636
+v -0.05337459 0.09899119 0.04122382
+v -0.04584271 0.10405199 0.04109752
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+v -0.05902612 0.08352952 0.04078272
+v -0.05925229 0.08352952 0.04122377
+v -0.05793737 0.09150144 0.04134904
+v -0.05899194 0.08723419 0.04564632
+v -0.05275921 0.09831009 0.04780480
+v -0.05656591 0.09284346 0.04693247
+v -0.05747846 0.09425183 0.04398231
+v -0.05793343 0.09149339 0.04553307
+v -0.04770464 0.10236638 0.04729189
+v -0.05927465 0.08352951 0.04488943
+v -0.04584271 0.10367427 0.04631395
+v -0.04891963 0.10320616 0.04434172
+v -0.05352449 0.09915592 0.04485572
+v -0.04584271 0.10395554 0.04539372
+v -0.05084074 0.10076115 0.04607326
+v -0.04619380 0.10382897 0.04574874
+v -0.04584271 0.10393544 0.04574112
+f 1 2 5
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+f 1 20 30
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+f 1 47 63
+f 1 63 66
+f 1 66 60
+f 1 60 40
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+f 1 17 11
+f 1 11 7
+f 1 7 3
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+f 44 52 45
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_44.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b07f9cb7c2e750f9d005248c396b0a7d2fe0ccd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_44.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02959666 0.10269008 0.06916137
+v 0.02854872 0.10269008 0.06914666
+v 0.03177437 0.10269008 0.06811433
+v 0.03275508 0.10609416 0.07089010
+v 0.03224500 0.11124708 0.07471537
+v 0.02959666 0.10901066 0.07334710
+v 0.02574107 0.10269008 0.06807019
+v 0.02725963 0.11162851 0.07451430
+v 0.03345955 0.10269008 0.06714085
+v 0.03433356 0.10509201 0.06775879
+v 0.03343324 0.10968717 0.07229516
+v 0.03284423 0.11405383 0.07536764
+v 0.03188107 0.12062812 0.07887169
+v 0.02959666 0.11831974 0.07795950
+v 0.02959666 0.11405383 0.07606158
+v 0.02959666 0.11124528 0.07472028
+v 0.02152448 0.12106896 0.07135605
+v 0.02494160 0.10269009 0.06580938
+v 0.02509945 0.12106894 0.07663293
+v 0.02729762 0.12061912 0.07888395
+v 0.02700678 0.12106893 0.07896976
+v 0.03542680 0.10269010 0.06389674
+v 0.03591058 0.10408807 0.06449260
+v 0.03492841 0.11405384 0.07219219
+v 0.03634466 0.10706935 0.06574808
+v 0.03574981 0.10958643 0.06833504
+v 0.03305324 0.11889189 0.07675799
+v 0.03252269 0.12106893 0.07797177
+v 0.03191322 0.12106893 0.07890357
+v 0.02959666 0.12106893 0.07904578
+v 0.02959666 0.12055615 0.07890357
+v 0.02178171 0.12106897 0.06882059
+v 0.02441836 0.10269010 0.06129018
+v 0.02422982 0.10269010 0.06336465
+v 0.02773171 0.12106893 0.07901390
+v 0.03638558 0.10269010 0.06159178
+v 0.03536834 0.11852487 0.07219221
+v 0.03433210 0.12106895 0.07470804
+v 0.03331631 0.12106894 0.07668197
+v 0.03639582 0.10958644 0.06612571
+v 0.03642943 0.10539250 0.06314887
+v 0.02198487 0.12106897 0.06807270
+v 0.02527191 0.10269013 0.05399768
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+v 0.03643674 0.10269011 0.05950015
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+v 0.03637097 0.11231584 0.06525523
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+v 0.03396817 0.12106897 0.06775884
+v 0.03421371 0.10489416 0.05399769
+v 0.02959666 0.12106898 0.06478201
+v 0.02961712 0.10635512 0.05399769
+v 0.03313947 0.12106898 0.06646659
+v 0.03220261 0.12106898 0.06529449
+f 1 2 7
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+f 1 53 61
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+f 64 68 67
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_45.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7ed128fbddba1d77fcfb1f7334c8a803765cf0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_45.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.06214700 -0.03457352 -0.07245879
+v -0.07585067 -0.03457360 -0.05237506
+v -0.07184704 -0.03457352 -0.07245879
+v -0.06993710 -0.00013982 -0.07245866
+v -0.08260784 -0.00013990 -0.05237493
+v -0.08486302 -0.03457360 -0.05237506
+v -0.08324820 -0.03457358 -0.05696636
+v -0.08349042 -0.03346804 -0.05736157
+v -0.07236211 -0.03343427 -0.07245878
+v -0.07881859 -0.00013982 -0.07245866
+v -0.09056499 -0.00013990 -0.05237493
+v -0.08526394 -0.03346806 -0.05237505
+v -0.08441477 -0.03457359 -0.05473854
+v -0.08396373 -0.03101764 -0.05821690
+v -0.07377368 -0.02981092 -0.07245877
+v -0.08853811 -0.00013988 -0.05839376
+v -0.07881580 -0.00217564 -0.07245867
+v -0.08853811 -0.00217570 -0.05838983
+v -0.08948473 -0.00013988 -0.05629572
+v -0.08958217 -0.00217570 -0.05611286
+v -0.09058726 -0.00217572 -0.05237494
+v -0.08660033 -0.02904250 -0.05237504
+v -0.08842953 -0.02198453 -0.05330310
+v -0.08460965 -0.03346805 -0.05514949
+v -0.08526673 -0.02931550 -0.05649049
+v -0.08669500 -0.02452592 -0.05611294
+v -0.08438135 -0.02803468 -0.05874386
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_46.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84835bc6b49d263e6e0a6f9ef07c76f5d21981d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_46.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_47.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d391688465ad1bd2eb366f503021692a8728472f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_47.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+v -0.02839791 -0.07899871 -0.07122813
+v -0.02833282 -0.07660891 -0.07580172
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_48.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492fbe9248f75d67d518e2f1407f9d42b07c9c0e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_48.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_49.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d629578455137ea8633d03f58fdf44a48c003e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_49.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_5.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..423bf03705f5c9474eeb478ef3794b0c5f309846
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_5.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_50.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..260cfb35d4aee2ef187aed8751537e7f07e68738
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_50.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_51.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4985e5b38f1e50b20498a3f0369a7fe4c69f94d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_51.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.08707093 -0.04716915 0.06776768
+v 0.08548727 -0.04954213 0.07010056
+v 0.08588514 -0.05025738 0.06776767
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+v 0.08556140 -0.04716916 0.07015001
+v 0.07557191 -0.06611928 0.06776761
+v 0.07563822 -0.06123870 0.07021176
+v 0.05187956 -0.08358000 0.07029818
+v 0.05187956 -0.08589828 0.07029817
+v 0.07264255 -0.06799579 0.07022408
+v 0.07148406 -0.07100828 0.06776759
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+v 0.07957004 -0.06083057 0.06776763
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+v 0.06987701 -0.06849640 0.05451498
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+v 0.04893460 -0.08449300 0.07021476
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+v 0.05932974 -0.08098824 0.07026575
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+v 0.04722612 -0.08806088 0.07024100
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+v 0.08245260 -0.04716915 0.06913652
+v 0.04722612 -0.08324760 0.06860337
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_52.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810a58f851d10d7c90c640c291ddd6c3640678fc
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_52.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.08213170 -0.04716482 0.03526997
+v 0.08212966 -0.04716482 0.03629298
+v 0.07287560 -0.07263514 0.05007059
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+v 0.08183240 -0.04774387 0.03526996
+v 0.07324210 -0.04716482 0.03526997
+v 0.08212763 -0.04716483 0.03679977
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+v 0.08197085 -0.04716487 0.05007069
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_53.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9ad97fb950c6157dc352bb552f44a94221a9e4f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_53.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03579292 0.10053881 0.03749885
+v -0.04169847 0.10064482 0.03785763
+v -0.03579292 0.10300886 0.03757720
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+v -0.03579292 0.09845624 0.04764460
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+v -0.03579292 0.09861291 0.04780582
+v -0.04584042 0.09737258 0.04828835
+v -0.04584042 0.09755045 0.04831901
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+f 1 40 33
+f 1 33 25
+f 1 25 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 17
+f 5 17 26
+f 5 26 34
+f 5 34 41
+f 5 41 42
+f 5 42 38
+f 5 38 37
+f 5 37 36
+f 5 36 35
+f 5 35 27
+f 5 27 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 14 19 20
+f 15 24 23
+f 16 25 17
+f 17 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 25 33 34
+f 25 34 26
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 30 32 31
+f 33 40 41
+f 33 41 34
+f 38 42 39
+f 39 42 41
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_54.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc8f52d5fab8ac955f6a4cb884d17dd7b8c86f9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_54.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.05907542 -0.06411459 0.05417839
+v -0.05907542 -0.06413456 0.05891996
+v -0.04618739 -0.07470973 0.05449646
+v -0.04618739 -0.07470973 0.05417836
+v -0.05907542 -0.07404379 0.05417836
+v -0.05907542 -0.06415452 0.05904437
+v -0.04618739 -0.07475714 0.05891993
+v -0.04618739 -0.08274337 0.05417833
+v -0.05154321 -0.07928399 0.05417834
+v -0.05338778 -0.08524504 0.06501574
+v -0.05837518 -0.08123945 0.06450081
+v -0.05907542 -0.08005222 0.06379533
+v -0.05907542 -0.06555125 0.06279384
+v -0.05692930 -0.06665366 0.06171514
+v -0.04618739 -0.07539315 0.06134031
+v -0.04618739 -0.08846997 0.06340476
+v -0.04645991 -0.08265608 0.05417833
+v -0.04913845 -0.08088025 0.05417833
+v -0.04618739 -0.08959236 0.06776680
+v -0.05344582 -0.08527498 0.06776682
+v -0.05567393 -0.08363384 0.06776682
+v -0.05863130 -0.08139908 0.06776683
+v -0.05907542 -0.08102745 0.06776683
+v -0.05907542 -0.06668111 0.06399223
+v -0.04869560 -0.07611646 0.06539529
+v -0.04618739 -0.07682230 0.06390243
+v -0.04618739 -0.07639830 0.06334024
+v -0.04709832 -0.07505395 0.06244578
+v -0.04618739 -0.08916585 0.06893999
+v -0.05310011 -0.08504054 0.07010376
+v -0.05907542 -0.08038396 0.06931166
+v -0.05907542 -0.06767128 0.06491029
+v -0.04618739 -0.08271599 0.06870696
+v -0.04618739 -0.07928902 0.06628028
+v -0.04618739 -0.08697351 0.07022815
+v -0.05061335 -0.08557180 0.07026595
+v -0.05799668 -0.08089527 0.07024391
+v -0.05907542 -0.07875031 0.07023605
+v -0.05907542 -0.06973145 0.06630708
+v -0.04618739 -0.08479861 0.07005808
+v -0.04618739 -0.08673157 0.07022815
+v -0.04741248 -0.08436214 0.07023603
+v -0.05907542 -0.07817416 0.07023133
+v -0.05907542 -0.07439801 0.06909281
+v -0.05273170 -0.08034157 0.07002187
+v -0.05907542 -0.07601672 0.06995418
+v -0.05506707 -0.07966565 0.07020928
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 5
+f 1 5 12
+f 1 12 23
+f 1 23 31
+f 1 31 38
+f 1 38 43
+f 1 43 46
+f 1 46 44
+f 1 44 39
+f 1 39 32
+f 1 32 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 15
+f 3 15 27
+f 3 27 26
+f 3 26 34
+f 3 34 33
+f 3 33 40
+f 3 40 41
+f 3 41 35
+f 3 35 29
+f 3 29 19
+f 3 19 16
+f 3 16 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 9 18 10
+f 10 18 17
+f 10 17 16
+f 10 16 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 15
+f 15 28 27
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 22
+f 22 31 23
+f 22 30 31
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 29 35 36
+f 29 36 30
+f 30 36 37
+f 30 37 31
+f 31 37 38
+f 32 39 33
+f 33 39 40
+f 35 41 36
+f 36 38 37
+f 36 41 42
+f 36 42 43
+f 36 43 38
+f 39 44 40
+f 40 44 45
+f 40 45 42
+f 40 42 41
+f 42 45 46
+f 42 46 47
+f 42 47 43
+f 43 47 46
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_55.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26eb59820d7cce64170ea62ba089fcacd9919c05
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_55.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02069527 0.09622143 0.05894717
+v 0.02161697 0.09622145 0.05399679
+v 0.02069527 0.09622139 0.06968655
+v 0.02069527 0.09939662 0.06433760
+v 0.02527292 0.10268770 0.05399682
+v 0.03320444 0.09622145 0.05399679
+v 0.02512958 0.09622139 0.06967538
+v 0.02542243 0.09627963 0.06970089
+v 0.02069527 0.09758110 0.07028283
+v 0.02069527 0.09987580 0.06775583
+v 0.02467798 0.10268768 0.05892169
+v 0.03514030 0.10268770 0.05399682
+v 0.03345413 0.09641515 0.05399679
+v 0.03440665 0.09622142 0.06337780
+v 0.02541626 0.09622139 0.06967060
+v 0.02412311 0.09784001 0.07014572
+v 0.02633796 0.09622139 0.06956219
+v 0.02069527 0.09888386 0.07027804
+v 0.02412311 0.09863507 0.07014572
+v 0.02069527 0.09987453 0.06776859
+v 0.02422946 0.10268767 0.06336189
+v 0.02441905 0.10268767 0.06128926
+v 0.03595411 0.10073801 0.05399681
+v 0.03638722 0.10268769 0.05606466
+v 0.03380246 0.09672596 0.05399680
+v 0.03449296 0.09622140 0.06742101
+v 0.03570134 0.10020565 0.05399681
+v 0.02937277 0.09622140 0.06908070
+v 0.02959780 0.10268765 0.06916204
+v 0.02854818 0.10268765 0.06914769
+v 0.02573993 0.10268765 0.06806993
+v 0.02494154 0.10268766 0.06580758
+v 0.03638722 0.10232941 0.05606466
+v 0.03643808 0.10225913 0.05892169
+v 0.03639646 0.10268769 0.05652383
+v 0.03638413 0.10260222 0.06154276
+v 0.03638567 0.10268767 0.06159219
+v 0.03542699 0.10268767 0.06389598
+v 0.03346029 0.10268765 0.06714203
+v 0.03372077 0.09622140 0.06790249
+v 0.03177412 0.10268765 0.06811456
+v 0.03644116 0.10268768 0.05897590
+v 0.03643654 0.10268768 0.05949883
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 40
+f 1 40 28
+f 1 28 17
+f 1 17 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 5 12
+f 2 12 23
+f 2 23 27
+f 2 27 25
+f 2 25 13
+f 2 13 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 11 22
+f 5 22 21
+f 5 21 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 41
+f 5 41 39
+f 5 39 38
+f 5 38 37
+f 5 37 43
+f 5 43 42
+f 5 42 35
+f 5 35 24
+f 5 24 12
+f 5 10 11
+f 6 13 14
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 16
+f 9 16 19
+f 9 19 18
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 12 24 23
+f 13 25 14
+f 14 25 27
+f 14 27 23
+f 14 23 26
+f 16 17 28
+f 16 28 29
+f 16 29 19
+f 18 19 29
+f 18 29 30
+f 18 30 31
+f 18 31 20
+f 20 31 32
+f 20 32 21
+f 23 24 33
+f 23 33 34
+f 23 34 26
+f 24 35 33
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 34 36
+f 28 40 29
+f 29 40 41
+f 33 35 42
+f 33 42 34
+f 34 42 43
+f 34 43 37
+f 34 37 36
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_56.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7a0a0e57f78254e7bdb8590e6093b980a4d205
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_56.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05933374 0.07239110 0.03283377
+v -0.06098052 0.07083693 0.03283376
+v -0.07099061 0.07218867 0.04723151
+v -0.05933374 0.07736494 0.04206310
+v -0.05933195 0.07437851 0.05001485
+v -0.05933374 0.06164941 0.03283373
+v -0.06324754 0.06860037 0.03283375
+v -0.07103915 0.07228466 0.05007078
+v -0.06843775 0.07413462 0.05007078
+v -0.06547499 0.06635603 0.03283374
+v -0.06569432 0.06612252 0.03283374
+v -0.06756583 0.06412208 0.03283374
+v -0.06779774 0.06386521 0.03283373
+v -0.06979148 0.06161827 0.03283373
+v -0.06998205 0.06138735 0.03283373
+v -0.07163063 0.05938432 0.03283372
+v -0.07385809 0.05641608 0.03283371
+v -0.07545092 0.05418212 0.03283370
+v -0.07722714 0.05147075 0.03283369
+v -0.07728467 0.05137994 0.03283369
+v -0.05933374 0.07787865 0.04562955
+v -0.05933374 0.07366238 0.05568892
+v -0.05933374 0.06186987 0.05568888
+v -0.05933374 0.06167012 0.04564515
+v -0.05933374 0.06160786 0.04122402
+v -0.05933374 0.06159750 0.03680066
+v -0.06808898 0.05137215 0.03283369
+v -0.07083600 0.07191363 0.05254087
+v -0.07769816 0.05137207 0.05568884
+v -0.06843775 0.07266346 0.05315170
+v -0.07658174 0.05137215 0.03283369
+v -0.07729546 0.05137213 0.03680062
+v -0.05985331 0.07330433 0.05568892
+v -0.06813572 0.05137207 0.05568884
+v -0.06810516 0.05137207 0.05449406
+v -0.06810337 0.05137207 0.05435535
+v -0.06804943 0.05137212 0.04122398
+v -0.06805663 0.05137213 0.03680062
+v -0.06828134 0.06532590 0.05568889
+v -0.06471992 0.06963036 0.05568891
+v -0.07765682 0.05147067 0.05568884
+v -0.07589318 0.05455566 0.05568885
+v -0.07474439 0.05623697 0.05568886
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 27
+f 1 27 31
+f 1 31 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 8
+f 4 9 21
+f 4 21 5
+f 5 21 22
+f 5 22 23
+f 5 23 24
+f 5 24 25
+f 5 25 26
+f 5 26 6
+f 6 26 27
+f 8 28 9
+f 8 20 29
+f 8 29 28
+f 9 30 22
+f 9 22 21
+f 9 28 30
+f 20 31 32
+f 20 32 29
+f 22 30 33
+f 22 33 40
+f 22 40 39
+f 22 39 43
+f 22 43 42
+f 22 42 41
+f 22 41 29
+f 22 29 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 37
+f 27 37 36
+f 27 36 35
+f 27 35 34
+f 27 34 29
+f 27 29 32
+f 27 32 31
+f 28 39 40
+f 28 40 30
+f 28 29 41
+f 28 41 42
+f 28 42 43
+f 28 43 39
+f 30 40 33
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_57.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22d2868c249a40d10a441a434627507b8c9533c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_57.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02068744 -0.08718490 0.03830402
+v 0.02068744 -0.09404122 0.03830399
+v 0.02068744 -0.08717012 0.04122326
+v 0.04722612 -0.07520250 0.03830406
+v 0.03373078 -0.09404122 0.03830399
+v 0.02068744 -0.09404133 0.06847268
+v 0.02068744 -0.08714980 0.04564608
+v 0.04722612 -0.08423459 0.03830403
+v 0.04722612 -0.07515818 0.05007208
+v 0.04722612 -0.08978038 0.06550637
+v 0.04722612 -0.09014641 0.06776644
+v 0.04703648 -0.09025548 0.06776644
+v 0.03434644 -0.09404123 0.04127032
+v 0.02700778 -0.09404134 0.07002962
+v 0.02720521 -0.09377331 0.07001394
+v 0.04722612 -0.08325312 0.06860143
+v 0.04722612 -0.08302389 0.06845077
+v 0.02068744 -0.09194136 0.06703818
+v 0.02068744 -0.08715906 0.05007204
+v 0.04722612 -0.07516745 0.05449489
+v 0.04722612 -0.08806308 0.07023996
+v 0.04632730 -0.08984511 0.07025564
+v 0.04054469 -0.09365683 0.06776643
+v 0.03957313 -0.09404133 0.06776642
+v 0.02873009 -0.09404134 0.07018343
+v 0.02960034 -0.09348678 0.07019599
+v 0.04596361 -0.08557307 0.06966240
+v 0.04000955 -0.08902065 0.07019914
+v 0.04722612 -0.08684673 0.07009557
+v 0.04722612 -0.08285013 0.06832835
+v 0.04722612 -0.07972235 0.06608399
+v 0.04722612 -0.07964101 0.06602121
+v 0.02068744 -0.08970644 0.06513911
+v 0.02068744 -0.08719605 0.05449172
+v 0.02068744 -0.08727740 0.05891768
+v 0.04722612 -0.07520812 0.05588232
+v 0.04722612 -0.08755658 0.07024310
+v 0.04296580 -0.09071577 0.07035296
+v 0.03772093 -0.09404134 0.07024307
+v 0.03405290 -0.09404134 0.07036862
+v 0.03405290 -0.09291926 0.07036863
+v 0.04296580 -0.08850675 0.07035296
+v 0.04722612 -0.08736433 0.07024310
+v 0.04722612 -0.07723048 0.06354771
+v 0.02068744 -0.08834404 0.06292614
+v 0.04722612 -0.07530980 0.05891772
+v 0.03509200 -0.09404134 0.07033724
+v 0.04722612 -0.07721938 0.06352259
+f 1 2 6
+f 1 6 18
+f 1 18 33
+f 1 33 45
+f 1 45 35
+f 1 35 34
+f 1 34 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 13
+f 2 13 24
+f 2 24 39
+f 2 39 47
+f 2 47 40
+f 2 40 25
+f 2 25 14
+f 2 14 6
+f 3 7 4
+f 4 7 9
+f 4 9 20
+f 4 20 36
+f 4 36 46
+f 4 46 48
+f 4 48 44
+f 4 44 32
+f 4 32 31
+f 4 31 30
+f 4 30 17
+f 4 17 16
+f 4 16 29
+f 4 29 43
+f 4 43 37
+f 4 37 21
+f 4 21 11
+f 4 11 10
+f 4 10 8
+f 5 8 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 7 19 9
+f 9 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 15 27 16
+f 15 26 28
+f 15 28 27
+f 16 27 29
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 30 31
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 28
+f 27 28 42
+f 27 42 29
+f 29 42 43
+f 32 44 33
+f 33 44 45
+f 35 45 46
+f 35 46 36
+f 37 43 42
+f 37 42 38
+f 38 42 41
+f 38 41 40
+f 38 40 47
+f 38 47 39
+f 44 48 45
+f 45 48 46
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_58.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..479fc8d690306beda7593ac6695a1a7de62159bc
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_58.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02068744 -0.09404313 0.05342471
+v 0.03080725 -0.09404313 0.05342471
+v 0.02068744 -0.09550723 0.05342471
+v 0.02068744 -0.09404318 0.06847241
+v 0.03394634 -0.09678372 0.05342470
+v 0.03899330 -0.09404317 0.06623882
+v 0.02607087 -0.10484647 0.05342467
+v 0.02485812 -0.10793104 0.06182673
+v 0.02068744 -0.09934492 0.06432268
+v 0.02068744 -0.09518102 0.06924989
+v 0.02700631 -0.09404319 0.07002926
+v 0.03647907 -0.09997158 0.05342469
+v 0.03957380 -0.09404318 0.06776716
+v 0.02944660 -0.10646419 0.05342467
+v 0.02758496 -0.10793102 0.05666763
+v 0.02696933 -0.10793102 0.05709724
+v 0.02639254 -0.10793102 0.05779678
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_59.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c38412a93ad34db7993f1cf67a56cf9739f4d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_59.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04757212 0.08345449 0.05115779
+v 0.04757212 0.09001229 0.06496613
+v 0.05077889 0.08280516 0.05115778
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_6.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c778f6f188ecb9a7160a1429426249b04683b9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_6.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.08571065 -0.04716495 0.07014680
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_60.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131a336026a7262964fb8ac4d7ade1aec20b2cae
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_60.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02031190 0.09399693 0.01958856
+v 0.02931770 0.09399693 0.01958856
+v 0.02031190 0.08736849 0.01958853
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+f 12 13 20
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 26
+f 17 26 31
+f 18 32 33
+f 18 33 19
+f 23 34 24
+f 24 34 32
+f 25 31 26
+f 32 34 35
+f 32 35 33
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_61.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88cf4789da362b9fb8171392ddfbb16df76eece8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_61.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.03492697 0.09486094 0.06776686
+v -0.03490451 0.09486095 0.06660878
+v -0.03438616 0.09486094 0.06915656
+v -0.03188963 0.09689569 0.06686505
+v -0.03361268 0.09689579 0.04122470
+v -0.03469520 0.09486095 0.06467208
+v -0.03238283 0.09486093 0.07007809
+v -0.02694779 0.09689568 0.07010274
+v -0.02983330 0.09689569 0.06874754
+v -0.03044598 0.09689584 0.02824436
+v -0.02945150 0.09486110 0.02336071
+v -0.03039388 0.09486109 0.02791417
+v -0.03102182 0.09486093 0.07029000
+v -0.02833215 0.09535274 0.07028507
+v -0.02575118 0.09637539 0.07013230
+v -0.02575118 0.09689568 0.07007810
+v -0.02831239 0.09689585 0.02329665
+v -0.02843456 0.09657277 0.02313895
+v -0.02742392 0.09486112 0.02022157
+v -0.02833215 0.09486093 0.07028507
+v -0.02688850 0.09486093 0.07022100
+v -0.02575118 0.09601226 0.07016679
+v -0.02575118 0.09689585 0.02324245
+v -0.02717687 0.09534894 0.02048276
+v -0.02636835 0.09486112 0.01994560
+v -0.02626144 0.09486093 0.07019144
+v -0.02575118 0.09486093 0.07016679
+v -0.02575118 0.09521288 0.02049754
+v -0.02575118 0.09486112 0.02003431
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 19
+f 1 19 25
+f 1 25 29
+f 1 29 27
+f 1 27 26
+f 1 26 21
+f 1 21 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 16
+f 4 16 23
+f 4 23 17
+f 4 17 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 27
+f 15 27 29
+f 15 29 28
+f 15 28 23
+f 15 23 16
+f 17 23 24
+f 17 24 19
+f 17 19 18
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 25
+f 25 28 29
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_62.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f851b4e541aedb2c68beb671f5ae179cb9c8a609
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_62.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.03833692 0.10134155 0.03826193
+v 0.03833692 0.10415336 0.03830908
+v 0.04755223 0.10086492 0.03836406
+v 0.04757212 0.10084644 0.03836406
+v 0.04757212 0.09647295 0.03845718
+v 0.04757212 0.09642122 0.03846953
+v 0.03833692 0.09919729 0.03972979
+v 0.03833692 0.10424080 0.03839100
+v 0.03851050 0.10414104 0.03831581
+v 0.04296582 0.10373214 0.03842691
+v 0.04615452 0.10327520 0.03869849
+v 0.04757212 0.10088462 0.03837864
+v 0.04757212 0.09402446 0.04122346
+v 0.03833692 0.09770209 0.04202137
+v 0.03833692 0.10650206 0.04134358
+v 0.04296582 0.10549705 0.04122350
+v 0.04755223 0.10388485 0.04112474
+v 0.04757212 0.10386884 0.04110566
+v 0.04757212 0.09425230 0.04564726
+v 0.03833692 0.09758015 0.04592671
+v 0.03833692 0.10660674 0.04156915
+v 0.03850598 0.10649466 0.04138847
+v 0.03833692 0.10660674 0.04166117
+v 0.03833692 0.10651682 0.04522198
+v 0.04296582 0.10530120 0.04564730
+v 0.04757212 0.10379616 0.04560465
+v 0.04757212 0.10387130 0.04112361
+v 0.04757212 0.09474494 0.04636998
+v 0.03833692 0.09785849 0.04669655
+v 0.03833692 0.10632222 0.04561252
+v 0.03850598 0.10639365 0.04540828
+v 0.04594387 0.10318772 0.04808252
+v 0.04742657 0.10383311 0.04568545
+v 0.04757212 0.10368285 0.04583134
+v 0.04757212 0.09654434 0.04818798
+v 0.03833692 0.09980938 0.04927544
+v 0.03833692 0.10404247 0.04910038
+v 0.04757212 0.10269878 0.04759099
+v 0.03833692 0.10377644 0.04923616
+v 0.04757212 0.10067890 0.04829124
+v 0.03833692 0.10040548 0.04972545
+v 0.04757212 0.09907902 0.04825869
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 20
+f 1 20 29
+f 1 29 36
+f 1 36 41
+f 1 41 39
+f 1 39 37
+f 1 37 30
+f 1 30 24
+f 1 24 23
+f 1 23 21
+f 1 21 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 18
+f 4 18 27
+f 4 27 26
+f 4 26 34
+f 4 34 38
+f 4 38 40
+f 4 40 42
+f 4 42 35
+f 4 35 28
+f 4 28 19
+f 4 19 13
+f 4 13 6
+f 4 6 5
+f 6 13 7
+f 7 13 14
+f 8 15 10
+f 8 10 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 16 22 21
+f 16 21 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 27 18
+f 17 26 27
+f 19 28 29
+f 19 29 20
+f 24 30 31
+f 24 31 25
+f 25 31 30
+f 25 30 32
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 28 35 36
+f 28 36 29
+f 30 37 32
+f 32 38 33
+f 32 37 39
+f 32 39 40
+f 32 40 38
+f 33 38 34
+f 35 41 36
+f 35 42 41
+f 39 41 40
+f 40 41 42
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_63.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b049dec2ba5e35e774ed003e49ad4071de9d4e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_63.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04757212 0.08362278 0.03622203
+v 0.04757212 0.10084640 0.03836413
+v 0.05200762 0.08251498 0.03622202
+v 0.04757212 0.07499921 0.03622200
+v 0.04757212 0.10088164 0.03837875
+v 0.05084187 0.09951941 0.03854690
+v 0.05231351 0.08231535 0.03622202
+v 0.06070252 0.06399957 0.03622196
+v 0.06070252 0.06399565 0.03631554
+v 0.06070252 0.06388207 0.05115624
+v 0.04757212 0.07495610 0.05007138
+v 0.04912603 0.10250222 0.03958356
+v 0.04757212 0.10386836 0.04110565
+v 0.05381215 0.09806323 0.03935984
+v 0.05474269 0.09508041 0.03862144
+v 0.06070252 0.07426329 0.03622199
+v 0.05695208 0.07844394 0.03622201
+v 0.04757212 0.07495609 0.05115629
+v 0.06070252 0.07395399 0.05115628
+v 0.05005785 0.10317159 0.04253270
+v 0.05193436 0.10072505 0.04094627
+v 0.04757212 0.10386836 0.04112319
+v 0.05457560 0.09894787 0.04230897
+v 0.05560126 0.09641131 0.04099011
+v 0.05773096 0.09196056 0.04106759
+v 0.06070252 0.07526146 0.04117573
+v 0.05890827 0.09064530 0.04243761
+v 0.04757212 0.08345831 0.05115632
+v 0.05640712 0.07816986 0.05115630
+v 0.06070252 0.07526145 0.04236299
+v 0.05890827 0.09064530 0.04442173
+v 0.05759215 0.09196054 0.04579615
+v 0.05464501 0.09495901 0.04813851
+v 0.05071720 0.09931582 0.04817946
+v 0.05005785 0.10317159 0.04423609
+v 0.04757212 0.10379397 0.04560465
+v 0.05457560 0.09894787 0.04453288
+v 0.05077889 0.08280850 0.05115631
+v 0.04757212 0.10067805 0.04829205
+v 0.05380315 0.08046375 0.05115631
+v 0.05554342 0.09633692 0.04586342
+v 0.05368876 0.09793794 0.04748348
+v 0.04891652 0.10229473 0.04718523
+v 0.04757212 0.10269792 0.04759024
+v 0.05166188 0.08223699 0.05115631
+v 0.04757212 0.10368045 0.04583128
+v 0.05187266 0.10061934 0.04585905
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 18
+f 1 18 28
+f 1 28 39
+f 1 39 44
+f 1 44 46
+f 1 46 36
+f 1 36 22
+f 1 22 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 5 13 12
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 8 16 26
+f 8 26 30
+f 8 30 19
+f 8 19 10
+f 8 10 9
+f 10 18 11
+f 10 19 29
+f 10 29 40
+f 10 40 45
+f 10 45 38
+f 10 38 28
+f 10 28 18
+f 12 13 20
+f 12 20 21
+f 12 21 14
+f 13 22 35
+f 13 35 20
+f 14 21 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 27
+f 16 27 26
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 29
+f 20 35 37
+f 20 37 23
+f 20 23 21
+f 22 36 35
+f 23 37 31
+f 23 31 27
+f 23 27 24
+f 24 27 25
+f 26 27 31
+f 26 31 30
+f 28 38 39
+f 29 34 40
+f 31 37 41
+f 31 41 32
+f 32 41 33
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 39
+f 34 39 38
+f 34 38 45
+f 34 45 40
+f 35 36 46
+f 35 46 43
+f 35 43 47
+f 35 47 37
+f 37 47 42
+f 37 42 41
+f 42 47 43
+f 43 46 44
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_64.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27d9d1f3b31b2f61b8a363c050c1c8f0514eb63
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_64.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05874485 -0.06407008 0.03236674
+v -0.05907542 -0.06418432 0.03236674
+v -0.05907542 -0.06370768 0.03236888
+v -0.04618739 -0.07473710 0.03236671
+v -0.05907542 -0.07311027 0.03236671
+v -0.05907542 -0.06369589 0.03679911
+v -0.04618739 -0.07471349 0.03679907
+v -0.04618739 -0.08282797 0.03236668
+v -0.05664416 -0.07538311 0.03236670
+v -0.05907542 -0.07318511 0.03236884
+v -0.05907542 -0.06370377 0.03745030
+v -0.04618739 -0.07470961 0.05417623
+v -0.04618739 -0.07470961 0.05408015
+v -0.04618739 -0.10157013 0.03857960
+v -0.04828430 -0.10268094 0.03908773
+v -0.04916116 -0.08090964 0.03236668
+v -0.05441605 -0.07718721 0.03236670
+v -0.05307362 -0.09854097 0.03884649
+v -0.05907542 -0.07555255 0.04557624
+v -0.05692426 -0.09316019 0.03945500
+v -0.05753491 -0.09017832 0.03879955
+v -0.05816070 -0.09163578 0.04104774
+v -0.05906911 -0.08710978 0.04122284
+v -0.05907542 -0.06375893 0.04122293
+v -0.05907542 -0.06411349 0.05417626
+v -0.04618739 -0.08274533 0.05417620
+v -0.04618739 -0.10363421 0.04020863
+v -0.04618739 -0.10393358 0.04085555
+v -0.04654192 -0.10383117 0.04082566
+v -0.04916621 -0.10320091 0.04203623
+v -0.05063606 -0.10167255 0.04082567
+v -0.05061335 -0.09953756 0.03857746
+v -0.05138928 -0.07942460 0.03236669
+v -0.05371834 -0.09921851 0.04122280
+v -0.05599314 -0.09600422 0.04104773
+v -0.05907542 -0.07404390 0.05417623
+v -0.05766486 -0.09448374 0.04240562
+v -0.05766486 -0.09448374 0.04428874
+v -0.05866663 -0.08710980 0.04564666
+v -0.04645991 -0.08265867 0.05417620
+v -0.04618739 -0.10212557 0.04740375
+v -0.04618739 -0.10379573 0.04519397
+v -0.04916621 -0.10320092 0.04432287
+v -0.05355053 -0.09903733 0.04564662
+v -0.05802317 -0.09115917 0.04571711
+v -0.05730528 -0.08938660 0.04786496
+v -0.05645870 -0.09236847 0.04723938
+v -0.05284904 -0.09829679 0.04786280
+v -0.05154321 -0.07928682 0.05417621
+v -0.04913845 -0.08088214 0.05417620
+v -0.05061335 -0.09884432 0.04805282
+v -0.04618739 -0.10214526 0.04738453
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 33
+f 1 33 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 36
+f 2 36 25
+f 2 25 24
+f 2 24 11
+f 2 11 6
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 13
+f 4 13 12
+f 4 12 26
+f 4 26 41
+f 4 41 52
+f 4 52 42
+f 4 42 28
+f 4 28 27
+f 4 27 14
+f 4 14 8
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 19
+f 11 24 12
+f 12 24 25
+f 12 25 36
+f 12 36 49
+f 12 49 50
+f 12 50 40
+f 12 40 26
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 18
+f 15 18 32
+f 15 32 16
+f 16 32 33
+f 17 33 32
+f 17 32 18
+f 18 31 34
+f 18 34 35
+f 18 35 20
+f 19 23 36
+f 20 35 37
+f 20 37 22
+f 20 22 21
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 36
+f 26 40 41
+f 28 42 43
+f 28 43 30
+f 28 30 29
+f 30 43 34
+f 30 34 31
+f 34 44 38
+f 34 38 37
+f 34 37 35
+f 34 43 44
+f 36 39 45
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 38 44 48
+f 38 48 47
+f 38 47 46
+f 38 46 45
+f 38 45 39
+f 40 50 48
+f 40 48 51
+f 40 51 41
+f 41 51 48
+f 41 48 52
+f 42 52 43
+f 43 52 48
+f 43 48 44
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_65.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b66b7f2cb2df8bcb1adf2d2e41a36a0a819182
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_65.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00112838 0.09772833 0.07041289
+v 0.00112838 0.09689626 0.06977938
+v 0.00112838 0.09933862 0.07041289
+v -0.01050573 0.09759231 0.07037762
+v -0.01605023 0.09689626 0.07016871
+v 0.00112838 0.09689631 0.05655448
+v 0.00112838 0.10035139 0.06879319
+v -0.00159520 0.09931428 0.07040339
+v -0.01050573 0.09908573 0.07037762
+v -0.01496197 0.09746228 0.07033556
+v -0.01876019 0.09689626 0.07009817
+v 0.00112838 0.10004067 0.06362341
+v -0.00019545 0.09689631 0.05664672
+v -0.01876019 0.10045711 0.06340773
+v 0.00112838 0.10097085 0.06776900
+v -0.00159520 0.10090703 0.06776900
+v -0.01876019 0.10062103 0.06757501
+v -0.01496197 0.09892497 0.07033556
+v -0.01876019 0.09739127 0.07021890
+v -0.01876019 0.09697963 0.07011851
+v -0.01876019 0.09689630 0.05855944
+v -0.00159520 0.09689631 0.05674439
+v -0.01876019 0.09875944 0.07021890
+f 1 2 6
+f 1 6 12
+f 1 12 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 21
+f 2 21 22
+f 2 22 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 9 18
+f 4 18 10
+f 4 10 5
+f 5 10 11
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 18 23
+f 10 23 19
+f 10 19 20
+f 10 20 11
+f 11 20 19
+f 11 19 23
+f 11 23 17
+f 11 17 14
+f 11 14 21
+f 12 14 15
+f 13 22 14
+f 14 17 15
+f 14 22 21
+f 15 17 16
+f 17 23 18
+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_66.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61234b7240ac01aba8238b2392e2dec56e7a61c2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_66.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.04722612 -0.07520466 0.03679641
+v 0.04722612 -0.07520466 0.03830406
+v 0.04722612 -0.07521506 0.03237303
+v 0.02067466 -0.08720718 0.01464709
+v 0.02067466 -0.08718904 0.03830402
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+v 0.03683789 -0.08959833 0.01464476
+v 0.03906784 -0.08857467 0.01464476
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_67.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf46b9eadb241848f756753cc133ae857f98108
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_67.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.03579028 0.10053839 0.03749923
+v -0.03579028 0.09971382 0.03774087
+v -0.03579028 0.10300892 0.03757785
+v -0.02831162 0.09689710 0.02329475
+v -0.03579028 0.09807958 0.03839882
+v -0.03579028 0.10426070 0.03804948
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+v -0.02833153 0.10697518 0.03990402
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+v -0.02396912 0.09689710 0.02321032
+v -0.03361156 0.09689704 0.04122283
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+v -0.03313865 0.10050958 0.05295266
+v -0.03579028 0.10024858 0.04909512
+v -0.03579028 0.10403481 0.04898742
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_68.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638fb957fd43eb024b880526813cd8107a115e31
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02456113 -0.12190728 0.07940873
+v -0.02557957 -0.11998960 0.07906067
+v -0.02693798 -0.11998960 0.07906067
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+v -0.02299577 -0.12190728 0.07849558
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+v -0.03170945 -0.10961266 0.07231199
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+v -0.03154537 -0.11840571 0.07583134
+v -0.02873246 -0.10451019 0.07134084
+v -0.02877532 -0.10451019 0.07133010
+v -0.01806319 -0.12190726 0.07219162
+v -0.02091158 -0.10451018 0.06678584
+v -0.03256825 -0.11393510 0.07219165
+v -0.03208785 -0.10451018 0.06819747
+v -0.03209672 -0.10454935 0.06821250
+v -0.03178040 -0.12190727 0.07548326
+v -0.01973941 -0.12190724 0.06853258
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_69.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1cbac0a3b7ae55c7df9268f1e00f8327740eec3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_69.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.06133297 -0.06337053 0.03526991
+v 0.06133297 -0.06337453 0.04122335
+v 0.06133297 -0.07388363 0.03526987
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+v 0.04722612 -0.07515956 0.05007058
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+v 0.04722612 -0.07516753 0.05451495
+v 0.05883085 -0.07711905 0.03526986
+v 0.06133297 -0.07455538 0.04122331
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+v 0.06133297 -0.06340238 0.05007063
+v 0.04722612 -0.08392381 0.05451492
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+v 0.05110495 -0.09956424 0.03844054
+v 0.06133297 -0.07441231 0.04553768
+v 0.05900346 -0.09066885 0.04454852
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+v 0.04734073 -0.10368604 0.04565061
+v 0.04722612 -0.10373373 0.04553568
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+
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_7.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ef4a1c24838517250b1674d8c8736a33043689
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_7.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_70.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3c54b22363392c038efa2e14b960fae09c3f59
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_70.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_71.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..498bbe4f89c83bf526b5dda1346e3d48c6593858
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_71.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_8.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b734b1684e7dc4d8af5a8485e9f6783d8d4fd3d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_8.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_9.obj b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4881cd49e8d4154ac428409e527f2c5f648b8f9c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mjcf/mesh/pot_collision_9.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/textures/material_0.png b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5909969c0d12efc02e40824b99bc78bc16a4ad16
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf49dd89e6e760df8ec5178e7bede0b31a1e366913e7b92ef39690671666463
+size 1547043
diff --git a/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/video.mp4 b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..459a4b74fa5b36edda40f0619daba5ee30bc4622
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 231533