diff --git a/.gitattributes b/.gitattributes
index c3fbd02324911cc3febb9e0155426909bf58526c..0b9e15493386318b7c6bfe1b080e573be7e726f6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3852,7 +3852,6 @@ dataset/home_appliances/electrical_appliances/d046cdd0878f52e592a1d4ed2308efb9/d
 dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/5b415060267d5d789a8dde5c6bc2145c/5b415060267d5d789a8dde5c6bc2145c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/5b415060267d5d789a8dde5c6bc2145c/mesh/pot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/5b415060267d5d789a8dde5c6bc2145c/mesh/pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.usd filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.urdf b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..847e8d81d0e6f6a52cc2ea5fdb2f63bd5f7c23a9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pot">
+   <link name="pot">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pot.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pot_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.386703</scale>
+         <version>v0.1.7</version>
+         <category>pot</category>
+         <description>metallic pot with side handles and a slightly rounded base</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260120051901</generate_time>
+         <gs_model>mesh/pot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.662393093109131</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.usd b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1bb821d89d51407e4777aaf1e6c92e6e5486bee3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d9175067dfe8433fc0e91fe64ae2005c5d7a4ae56430efc20c9fe015c2ca681
+size 552580
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/material.mtl b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/material_0.png b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5946f94565e2e9b1bc8f1cf7fc4bdbcf465ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2987dbaa781716915c29de863a9a85f5d2dc7fb326a0e7abb05d334859c37fec
+size 1935365
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.glb b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..119f0dcb99eb918006c7a752399255da8379f09c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e78d70a5d9a5020f4a4bc3519ad8ee12736f33a7adfb39e551120405a75492fb
+size 2318712
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c472e23ccadd08a60a12784a500f6a6ee6135d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot.obj
@@ -0,0 +1,35124 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83558085d8df3b3963bb6f4e9161781d0764265d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_collision.obj
@@ -0,0 +1,9984 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_gs.ply b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6f4494c1c96c3910a7d8fa2132aea7f8c14d15da
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d901286df24e7b14383fe104f2c5d5c9f64259c18dae1347b4d4ffc0b25e78c
+size 1935273
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/7edef1c8d40d525f9990481a78355862.xml b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/7edef1c8d40d525f9990481a78355862.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f9465727d36b62d9b334d4f2beb1c18ec266b3a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/7edef1c8d40d525f9990481a78355862.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pot">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pot.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pot_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pot_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pot_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pot_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pot_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pot_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pot_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pot_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pot_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pot_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pot_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pot_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pot_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pot_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pot_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pot_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pot_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pot_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pot_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pot_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pot_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pot_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pot_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pot_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pot_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pot_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pot_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pot_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pot_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pot_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pot_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pot_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pot_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pot_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pot_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pot_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pot_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pot">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5946f94565e2e9b1bc8f1cf7fc4bdbcf465ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2987dbaa781716915c29de863a9a85f5d2dc7fb326a0e7abb05d334859c37fec
+size 1935365
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc73addb8a54be94732bfa49000c604e2ee770b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot.obj
@@ -0,0 +1,35124 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.022650 -0.105413 -0.077574
+v 0.021941 -0.104750 -0.078557
+v 0.023257 -0.105741 -0.076210
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+v 0.086563 0.098397 0.032255
+v 0.088535 0.096208 0.031690
+v 0.026218 0.008345 -0.072932
+v 0.028837 0.028239 -0.072929
+v 0.011081 0.013704 -0.073823
+v 0.030720 0.002069 -0.072640
+v 0.042412 0.013497 -0.072331
+v 0.043395 -0.001030 -0.072138
+v 0.058325 0.000116 -0.071375
+v 0.044197 -0.015902 -0.072196
+v 0.057638 0.014833 -0.071504
+v 0.042878 0.019963 -0.072297
+v 0.061646 0.035660 -0.071082
+v 0.043005 0.039518 -0.072177
+v 0.032260 0.037379 -0.072741
+v 0.027179 0.053148 -0.073042
+v 0.041275 0.058157 -0.072175
+v 0.030044 0.065588 -0.072743
+v 0.052397 0.067799 -0.071278
+v 0.057218 0.059010 -0.071081
+v 0.061496 0.045665 -0.071026
+v 0.031572 -0.064699 -0.072470
+v 0.049338 -0.030510 -0.072008
+v 0.035187 -0.028986 -0.072555
+v 0.026793 -0.044665 -0.072861
+v 0.057607 -0.053229 -0.071540
+v 0.063931 -0.034595 -0.071464
+v 0.070326 -0.052178 -0.071184
+v 0.061348 -0.065715 -0.071371
+v 0.046228 -0.062216 -0.071913
+v 0.053164 -0.072814 -0.071591
+v 0.077593 -0.037335 -0.071173
+v 0.043465 -0.078564 -0.072089
+v 0.033279 -0.084218 -0.072487
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a47aa72c56300cbfb061d23d1b34bbabff3f24
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision.obj
@@ -0,0 +1,9984 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_0.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ae85f7d5aa2829852827fd1d2e9073102a37da
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_0.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_1.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b9dda0f5d4ad33c675662e9d0d97e61f90857d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_10.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a5dcac75152cdaa6bbc3e256e626516729eb8d6
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_10.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_11.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9b4e854e3f290127488f1f37bffff0fe43caf2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_11.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_12.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf36bbde70fcecd30da0cb099806917a8b28932b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_12.obj
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_13.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..876270194d0adf8888b317767870eeebc7e279cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_13.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_14.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d72feefeddb89fdd72d2d7eedfb32b648ac81f8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_14.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_15.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a8ffd3f5715c15f1e504846a641d73111bb300
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_15.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_16.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4be3d127873835467fd1a401ce97ceee70aa8378
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_16.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_17.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654c1fbc2bd9be24203cac5b4b36672f92eb78f3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_17.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_18.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5006de237882519cf577e15684ea6d4dafa0e1c0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_18.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_19.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3896a0633f488f6da11806b99ed33a0aa04daf8f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_19.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_2.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dee965033f99290b462882b644194d8e9ef6750
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_20.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06c8469bf7156caba4e45cf8de4aca0d56fadf9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_20.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_21.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07869adf9be3b47f2bafc26f69f1f747ec8e579d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_21.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_22.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54fc368175370696b20df4fbe798606c9093957d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_22.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_23.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c31ecdb5b312989ff61ec7040a3b5f24b082ada
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_23.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_24.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a2d6baabd95d6454309e5ba50d9765c5d4b56b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_24.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_25.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00af17c594c40f98a055409d11b9bff171114a26
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00308509 -0.19428564 0.01480461
+v 0.00033765 -0.19426085 0.01480461
+v 0.00033765 -0.19421127 0.01212450
+v 0.00033765 -0.19413193 0.00855366
+v 0.00308509 -0.19414184 0.00855366
+v 0.00948868 -0.19426085 0.01480461
+v 0.00948868 -0.19258016 0.01983082
+v 0.00308509 -0.19256034 0.01980696
+v 0.00033765 -0.19327922 0.01765969
+v 0.00033765 -0.19241651 0.00436251
+v 0.00948868 -0.19410714 0.00855366
+v 0.00948868 -0.19242642 0.00432274
+v 0.01458966 -0.19280324 0.00855366
+v 0.01469917 -0.19287762 0.01480461
+v 0.01381986 -0.19222816 0.01917868
+v 0.00948868 -0.19071107 0.02295630
+v 0.00308509 -0.19070612 0.02293244
+v 0.00033765 -0.19254546 0.01975924
+v 0.00033765 -0.19148450 0.02154864
+v 0.00033765 -0.18834116 0.00180170
+v 0.00308509 -0.18834116 0.00174603
+v 0.00948868 -0.18834116 0.00163469
+v 0.00308509 -0.19241651 0.00434660
+v 0.01367440 -0.19212896 0.00468062
+v 0.01703310 -0.18834118 0.00855368
+v 0.01687946 -0.18834120 0.01480463
+v 0.01520256 -0.18864366 0.02118282
+v 0.01427422 -0.18671508 0.02591477
+v 0.00648301 -0.14688900 0.08052721
+v 0.00308509 -0.14722118 0.08084533
+v 0.00033765 -0.14740958 0.08100438
+v 0.00033765 -0.19067141 0.02288472
+v 0.00033765 -0.18196042 0.00066447
+v 0.00948868 -0.18196042 0.00037021
+v 0.01479396 -0.18834116 0.00351157
+v 0.01677486 -0.18196045 0.00855370
+v 0.01701675 -0.14363660 0.06486804
+v 0.01672910 -0.14363665 0.07792663
+v 0.01535947 -0.18196043 0.00285945
+v 0.01414347 -0.14363666 0.08032840
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+v 0.01463543 -0.16918905 0.00405243
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+v 0.00033765 -0.17557474 0.00169837
+v 0.00033765 -0.15252577 0.00598504
+v 0.00033765 -0.14730519 0.00697917
+v 0.00033765 -0.14363639 0.00767903
+v 0.00948868 -0.14363639 0.00774265
+v 0.01451611 -0.14363640 0.00969905
+v 0.01452265 -0.14363640 0.00972291
+v 0.00033765 -0.14363666 0.08160881
+f 1 2 3
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 18
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+f 34 44 45
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+f 36 49 37
+f 37 49 50
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+f 37 59 58
+f 37 58 57
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+f 37 41 40
+f 37 40 38
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+f 44 55 56
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+f 47 59 48
+f 48 59 49
+f 49 59 60
+f 49 60 50
+f 51 61 53
+f 51 53 52
+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_26.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca29cb52855c4129c9c55a5b2ebfb706b7d40eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_26.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02384347 -0.14375488 0.07109491
+v -0.02249674 -0.14375490 0.07689790
+v -0.02088020 -0.14375484 0.05871974
+v -0.02151451 -0.14973177 0.05211010
+v -0.02146717 -0.15599422 0.04686868
+v -0.02085890 -0.16210974 0.04686865
+v -0.02023879 -0.14743304 0.07520974
+v -0.01356671 -0.14717483 0.08072002
+v -0.01356671 -0.14499777 0.08072003
+v -0.01514775 -0.14375491 0.08001551
+v -0.01580100 -0.14375482 0.05360086
+v -0.02035003 -0.14580593 0.05404331
+v -0.02064589 -0.15165269 0.04719883
+v -0.02080446 -0.15246515 0.04686869
+v -0.01632880 -0.16424061 0.04686865
+v -0.00972772 -0.14756531 0.08105697
+v -0.01011351 -0.14375492 0.08106039
+v -0.01065788 -0.14375492 0.08100934
+v -0.01124012 -0.14375492 0.08095148
+v -0.01612998 -0.16428259 0.04686865
+v -0.01328506 -0.14375492 0.08063835
+v -0.01562348 -0.14375482 0.05350897
+v -0.02028376 -0.15179125 0.04686869
+v -0.00332309 -0.14766189 0.08121353
+v -0.00348167 -0.14375492 0.08163218
+v -0.00972772 -0.16465629 0.04686865
+v 0.00033602 -0.16520003 0.04686864
+v -0.00972772 -0.14375481 0.05203865
+v -0.01612998 -0.15035107 0.04686870
+v 0.00033602 -0.14740786 0.08100592
+v 0.00033602 -0.14537566 0.08142797
+v 0.00033602 -0.14375492 0.08160495
+v -0.00332309 -0.14375492 0.08163558
+v 0.00033602 -0.15048543 0.04686870
+v -0.00332309 -0.14375481 0.05116735
+v -0.00972772 -0.15037416 0.04686870
+v -0.00316688 -0.14375481 0.05116735
+v 0.00033602 -0.14375481 0.05124563
+v -0.00332309 -0.15040566 0.04686870
+f 1 2 10
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+f 27 31 30
+f 28 35 29
+f 29 35 37
+f 29 37 36
+f 34 39 37
+f 34 37 38
+f 36 37 39
+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_27.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a523268e523eafda511c8e84a8ffb13b49eba58b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00033602 -0.14363466 0.08161085
+v 0.00310770 -0.14363466 0.08158523
+v 0.01589289 -0.14240667 0.08177732
+v 0.01827990 -0.14049557 0.08202062
+v 0.01827990 -0.13693178 0.08198223
+v 0.00033602 -0.14089221 0.08140597
+v 0.00033602 -0.14363439 0.00767474
+v 0.01024766 -0.14363466 0.08143158
+v 0.01827990 -0.14218030 0.08175171
+v 0.01827990 -0.13517893 0.08147002
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+v 0.00033602 -0.13510233 -0.04774530
+v 0.00948712 -0.14363439 0.00773876
+v 0.01414346 -0.14363466 0.08033035
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+v 0.01827990 -0.12777086 0.07137971
+v 0.01827990 -0.13300692 -0.04843676
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+f 1 30 29
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_28.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6472e83e9f145b6b2e117a18100bde4196eead3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_28.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.05215170 -0.12090567 -0.05621153
+v -0.05215170 -0.12064265 -0.05669631
+v -0.05215170 -0.12084793 -0.05619645
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+v -0.06324020 -0.11435593 -0.05619643
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+v -0.05215170 -0.11807663 -0.06042389
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+v -0.05215747 -0.10882616 -0.05619641
+v -0.06947479 -0.11007069 -0.05619641
+v -0.06870519 -0.10726729 -0.06160316
+v -0.07106586 -0.10891598 -0.05619641
+v -0.07629737 -0.10465640 -0.05619639
+v -0.07812480 -0.10315528 -0.05619639
+v -0.07769820 -0.10278320 -0.05814685
+v -0.07596590 -0.10135264 -0.06231776
+v -0.06443639 -0.10871709 -0.06355865
+v -0.06096889 -0.10979481 -0.06440765
+v -0.05224682 -0.11535665 -0.06377594
+v -0.05215170 -0.11547211 -0.06368803
+v -0.05215170 -0.08625163 -0.06754613
+v -0.08159806 -0.05538251 -0.06902549
+v -0.08159806 -0.08558451 -0.05619632
+v -0.07169710 -0.10301411 -0.06415268
+v -0.08159806 -0.09976814 -0.05619638
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+v -0.05550679 -0.10604201 -0.06902568
+v -0.05264171 -0.10742765 -0.06902568
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_29.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47f908d7322a6f509a3bc466abe79b15b9236f8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_29.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+v -0.00972892 -0.13202040 -0.05619649
+v -0.01184569 -0.13190749 -0.05619649
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_3.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949782a68483ddb5242739e996792857e7ff8e38
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_3.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.06998092 0.04931668 -0.07520493
+v -0.10117319 0.05148852 -0.05701583
+v -0.10278239 0.04931661 -0.05701584
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_30.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a336043ee4cb05773938392f723cf983a232f602
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00029504 -0.00217462 -0.06956524
+v -0.00029504 -0.00217462 -0.06856524
+v -0.00029504 0.00479603 -0.06956524
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+v 0.00070496 -0.00217462 -0.06956524
+v 0.00070496 -0.00217462 -0.06856524
+v 0.00070496 0.00479603 -0.06956524
+v 0.00070496 0.00479603 -0.06856524
+f 2 4 1
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+f 4 8 3
+f 7 5 3
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+f 7 6 5
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_31.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757fc2a694100aca8a3f1b7b0fb35695643cad03
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_31.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.02636529 0.18830079 0.01480212
+v 0.02593724 0.18795692 0.02061177
+v 0.02593979 0.18781398 0.02063026
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+v 0.00308519 0.16915387 0.00070319
+v 0.00308519 0.17553233 -0.00027671
+v 0.00308519 0.18191852 -0.00035680
+v 0.00308519 0.18830083 0.00187423
+v 0.00308519 0.19216422 0.00463321
+v 0.00033602 0.19391433 0.00854876
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+v 0.00949060 0.17522705 0.02063021
+v 0.00308519 0.15488629 0.01780338
+v 0.00940397 0.17522705 0.02063021
+v 0.00308519 0.17528113 0.02063021
+v 0.00033602 0.17538544 0.02063021
+v 0.00295270 0.15488635 0.00371479
+v 0.00308519 0.15638534 0.00339020
+v 0.00308519 0.16276767 0.00202616
+v 0.00033602 0.16276767 0.00206108
+v 0.00033602 0.16915387 0.00074222
+v 0.00033602 0.17189301 0.00031904
+v 0.00033602 0.17553233 -0.00023973
+v 0.00033602 0.17827148 -0.00028902
+v 0.00033602 0.18191852 -0.00033420
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+v 0.00033602 0.18830083 0.00187012
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+v 0.00070801 0.15488629 0.01770683
+v 0.00033602 0.15488630 0.01762465
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+v 0.00080228 0.15488635 0.00374971
+v 0.00033602 0.15912450 0.00283965
+v 0.00033602 0.15488635 0.00375793
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_32.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe401874596c9e1489ae90e514cf800ed94b5158
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00018184 -0.14375937 0.02153659
+v -0.01645876 -0.14375940 0.02910697
+v 0.00021982 -0.14375937 0.02153659
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+v -0.01933461 -0.15322150 0.03044099
+v -0.01650792 -0.14375940 0.02921359
+v 0.00033602 -0.14375937 0.02154403
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+v -0.02145518 -0.16280977 0.03357027
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+v -0.01779501 -0.14375941 0.03347363
+v -0.02245849 -0.16919260 0.03357025
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+v -0.02085856 -0.16211360 0.04686864
+v -0.02146635 -0.15599711 0.04686867
+v -0.02146859 -0.15583823 0.04549991
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+v -0.01769222 -0.14375941 0.03365465
+v -0.02080493 -0.15246459 0.04686868
+v -0.02028428 -0.15179173 0.04686868
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+v -0.00006620 -0.15047872 0.04686869
+v 0.00033602 -0.15048806 0.04686869
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+v -0.01692801 -0.19055588 0.02153642
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+v -0.00972833 -0.19114931 0.02153642
+v -0.00579332 -0.19131752 0.02153642
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_33.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e69fa5c331a2db326f5d411bd805be6241a44bd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_33.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00033863 0.15488099 0.00375755
+v 0.00295411 0.15488099 0.00371306
+v 0.00308488 0.13938929 0.00565560
+v 0.00033863 0.13938929 0.00590769
+v 0.00033863 0.15488085 0.04158630
+v 0.01589286 0.15488099 0.00397257
+v 0.01589286 0.13938929 0.00641188
+v 0.00033863 0.13938916 0.04157882
+v 0.00033863 0.15396787 0.04158630
+v 0.01968791 0.15488085 0.04158630
+v 0.01714305 0.15488098 0.00410232
+v 0.02088580 0.13938928 0.00795409
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+v 0.02195029 0.15488085 0.03966965
+v 0.01181795 0.13938916 0.04158624
+v 0.01589286 0.13938916 0.04112283
+v 0.01614394 0.13938916 0.04106722
+v 0.02236354 0.13938917 0.03941750
+v 0.02032609 0.15488098 0.00472143
+v 0.02209153 0.13938928 0.00856208
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+v 0.02250216 0.15488097 0.00843609
+v 0.02348296 0.13938926 0.01480508
+v 0.02248908 0.15488088 0.03356752
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_34.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cebfe5f67f2e2031d8111c1c2d4b998e38bf362d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00033602 0.15488085 0.04158630
+v 0.01968638 0.15488085 0.04158630
+v 0.00033602 0.15396787 0.04158630
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_35.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50e4c1bbb250f1eef182df907a0477eb9df03b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_35.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01589290 0.15488230 0.06052718
+v 0.01273031 0.15488230 0.06045688
+v 0.02229747 0.15488230 0.06019132
+v 0.01589290 0.18463846 0.02999918
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+v 0.00308632 0.18464211 0.03001480
+v 0.00949089 0.15488230 0.06034362
+v 0.02496071 0.15488230 0.05859013
+v 0.02229747 0.18667221 0.02585561
+v 0.01589290 0.18755738 0.02687101
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+v 0.00033602 0.18455067 0.02994060
+v 0.00277647 0.15488230 0.05971096
+v 0.02634098 0.15488231 0.05711000
+v 0.02573151 0.18559681 0.02466057
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+v 0.00949089 0.19080916 0.02313750
+v 0.00308632 0.19080916 0.02313750
+v 0.00033602 0.19076527 0.02309064
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+v 0.02593893 0.18781344 0.02063026
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+v 0.02229747 0.19105424 0.02063027
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+v 0.01589290 0.19218083 0.02063028
+v 0.01450751 0.19220279 0.02063028
+v 0.00949089 0.19224667 0.02063028
+v 0.00821561 0.19224667 0.02063028
+v 0.00308632 0.19224302 0.02063028
+v 0.00033602 0.19219181 0.02063028
+v 0.00033602 0.15488242 0.02840569
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+v 0.02626928 0.15654663 0.04624533
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+v 0.00949089 0.17522701 0.02063021
+v 0.01589290 0.17538430 0.02063021
+v 0.02044345 0.17612317 0.02063022
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_36.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be701680ee8403fb0788123d896820aadf249581
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_36.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00033602 -0.19426329 0.01480034
+v -0.00332292 -0.19422868 0.01480034
+v -0.00332292 -0.19411990 0.00854644
+v 0.00033602 -0.19421385 0.01211776
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+v -0.00972663 -0.19405070 0.01480034
+v -0.00972663 -0.19399629 0.00854644
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+v -0.01613034 -0.19068876 0.02153438
+v -0.01692795 -0.19055527 0.02153438
+v -0.02085428 -0.19253286 0.01480034
+v -0.02081771 -0.19252295 0.00854644
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+v -0.01613034 -0.18834026 0.00225374
+v -0.01613034 -0.18195745 0.00112189
+v -0.00972663 -0.18195745 0.00087876
+v 0.00033602 -0.18195745 0.00066424
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+v -0.02119937 -0.18805358 0.02153439
+v -0.02132507 -0.18836999 0.02084791
+v -0.02301170 -0.18834030 0.01480036
+v -0.02294085 -0.18834028 0.00854646
+v -0.02088627 -0.18834026 0.00392703
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+
diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_4.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1502b46c0a21fa5c395b1cb4cf2c4d87d9f3a841
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_4.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.12357506 0.00317823 -0.05055629
+v 0.12356055 0.00221489 -0.05055629
+v 0.12269773 0.00137613 -0.05300445
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_5.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed366120b7fb304708906a0d4fe6183640a9720b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_6.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c59b91ba2feb427c1bf65c8b72477028622b842
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_6.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_7.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6aa73fc38fcc6ef934a9187dd67e2103fdf7a3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_7.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_8.obj b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340117aa72322d7c4a795ea63d973cca69810244
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mjcf/mesh/pot_collision_8.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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