diff --git a/.gitattributes b/.gitattributes
index 78af1ca3b5f16b864d317b2245f65a93d35b26b0..0fc47b205e449763152f9f2e958687653bb54f81 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3861,5 +3861,4 @@ dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.p
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/garlic_press_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/mesh/garlic_press_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.urdf b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93b15c3fabc455d4fd6b511f631e802c4becdab3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.urdf
@@ -0,0 +1,58 @@
+<?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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.2500" />
+         <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>0.501776</scale>
+         <version>v0.1.5</version>
+         <category>pot</category>
+         <description>cylindrical cooking pot with handles and slightly flared rim</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.0</max_mass>
+         <generate_time>20251006002655</generate_time>
+         <gs_model>mesh/pot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.685578346252441</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.usd b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ee18ec3030a7b790e477b93a7d7165a383e822bd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0058584a25c31bd44eeb46dd8606ced436921730221ed07d2eabdac56ac5255
+size 408294
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/material.mtl b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/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/aa1174fba8d35412aa0ba90ce3187720/mesh/material_0.png b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e23f8ee65ba235574b46809cd1f1ad7d0927798
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a3ffa273a65db09ce032039cc929f0b88f7b4e92eb3a6e71b696c7872fd982
+size 878282
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot.glb b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2c5a150c28ae17e069adb507dd403d3f3aa319b4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d63190c8cf4a421b9b144880bdc4f4ee602e0fdba2ce71f241d094db64d509
+size 1158392
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548e3da7c2aa8967d2cfe346aa164cc9f81a44a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot.obj
@@ -0,0 +1,25582 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841c3fd959f13ff6b4de8a858a89c5c6f37ec3cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mesh/pot_collision.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db404f3098a3c8aed8a2b43dbc50453aea315d52
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot.obj
@@ -0,0 +1,25582 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19986eea0929334c8a20969b9f0e1b390bc08c76
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision.obj
@@ -0,0 +1,21524 @@
+# https://github.com/mikedh/trimesh
+
+o pot_collision.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_0.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20248df4377dbaa3a1bccf9bb5bba51aa5a4e5f4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_0.obj
@@ -0,0 +1,1141 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_1.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39518d685c28a8c8c03e2b135f4e925f8c464003
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_10.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be1c9428201fd0f33c1363c603f0b2aeab5efb3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_10.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_11.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd74ce74433efd09bb32a903ac73548e63cd14e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v -0.06252408 0.18612366 0.11810041
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_12.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a267a1f7cb30c90f9add914c5d7e2f94a3a80f8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_12.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.17883420 -0.00000817 0.11805272
+v -0.19959217 -0.00000817 0.11805272
+v -0.17795301 -0.00000814 0.10994183
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_13.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58345d2bae5731b8a026610c1614fded16ebf07a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_14.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccaf281c3dc40d1d42ba95c4c22ff72113ad4fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_14.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.21945933 0.00416423 0.14267671
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_15.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dfe9c4390fd260bd12fcd4f49ded6e56e087ecf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_15.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_16.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fea8fbbfb29c770f102c131d44072afa2f5cce9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_16.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_17.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3c5f2eb7cee7f67f7dadbaeb68c7de11bca531
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_17.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_18.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55a12ddd1bb250af666563dcebc6799c1f43e2c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_18.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_19.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37747fd6a0d94cf433f441e42dda4750ef483fcb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_19.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_2.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e412266fe2832e94f396a399cdeba6c4da8bb2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_20.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437b8cb252f0734fbf0768fe7737635ca48fd828
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_20.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_21.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c84fb8c4de82d129c7ce57c3efc9c567a08f393
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_21.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_22.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e545b0129e3cf9c805a2e6c19d76c0b2555b496b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_22.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_23.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d1038e5d58e3d39e4d873bce5076320b8f444a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_23.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_24.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73675bd6ba34e0c3693058a9adb44e2fdec2e196
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_24.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_25.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e89f33002a8400d45980a6f05d3fb7345f2cb06
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_25.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_26.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e11bbf8899c6efc9f82b0bd8e58b04211a807b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_26.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_27.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1526e3a2505eba05784e780efcb4609b1fd904
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_27.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_28.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd231c5fea05c13254f629ea4b2dddac441b137
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_28.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_29.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d68a98f68feda237159c6c6482bf035b3fa140
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_29.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_3.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486a9c50ae9a9d130342630a87c364c9a01caa2b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_30.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e215739d4beec2b88f8b27d2a639af72f335670b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_30.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_31.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff21315079637cb5b441e1f02bda51ef6b1b41b1
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_31.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_32.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4c32acbe2c9cc8769684d8af0261bdef38302b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_32.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_33.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5472aa57366119695eb7e76f085ade2ae87818ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_33.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_34.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6868b8613ee1d7457bdbd8ad308e0a2a8d6f979
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_34.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_35.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4118850145e30a27e27d42712f9b72b7d0729c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_35.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_36.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f41ee00ee211e1f23e540b13bc99875cf6ccbc0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_36.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v 0.21867086 -0.01236190 0.13449322
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_37.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a4b9644aad986df5f095c7ef4617e102ecb34c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_37.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_38.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e2b803a85f53dc065288c77a2f3c8d22818d66d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_38.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_39.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5851b57dea46cac6b3f8e82cba39de7ce78ad42d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_39.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_4.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..255c67f587e9811855e272352de776ae47022657
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_4.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_40.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3a74da31bd314321b67603b2487d9786f6e6fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_40.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_41.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787add541015126e02115caa9e0644a543549e08
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_41.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_42.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357e913a7c8adb27e2e4bc0a2a39be2c59bf6adb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_42.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+v 0.19665715 -0.02061396 0.03418534
+f 1 2 6
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+f 1 13 25
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_43.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77aa8efdd36e76e4dbd70777d0585b0c795613bd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_43.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.12578369 0.14973827 0.03418597
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+v 0.12573733 0.14977061 0.03420865
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_44.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee810cddd361a127380a8a2d71c30ded502926e7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_44.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.19887909 -0.00000815 0.11144303
+v 0.19889238 0.00416578 0.11144305
+v 0.17811047 -0.00000815 0.11144303
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_45.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0309dd6b5b1d0d7fa3e19b7e2fea301b1c7b2c99
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_45.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.04591935 0.20237186 0.14943757
+v -0.05422901 0.20237186 0.14933844
+v -0.06014074 0.19650016 0.14921449
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_46.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b27fed1d1e47d17a10f00829a73b3dbd2d6808d6
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_46.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_47.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fef99b5852efa0c13ccbab6e1080326dc0e1544
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_47.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_48.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688fcac98800c7ac64d1690aceb2070775eb4441
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_48.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03353772 0.19231617 0.03418613
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_49.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66f077bcbe8c7c60633ba21395ea3031928a4a2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_49.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_5.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6393664d67e09882c6b8238bac9cea41ce10021
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_5.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_50.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcd731f54a69d8cc5788791df77614afb94cdb5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_50.obj
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_51.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efec980ca614a71a1b077852b8e26fc534efcff0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_51.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_52.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c815854bef6b50233193a673d3d12d6f0301f55d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_52.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_53.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9747afe0a8e66ea5f009f643bb7473ade6962b63
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_53.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.06091912 0.16678218 0.07721638
+v 0.06091912 0.16680004 0.08539534
+v 0.03516010 0.17363985 0.09358175
+v 0.03516010 0.17362916 0.08539537
+v 0.03516010 0.17383673 0.03418605
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+v 0.03516010 0.17370776 0.10257638
+v 0.04762357 0.20330910 0.07813601
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+v 0.03719237 0.19235762 0.03418612
+v 0.03516010 0.19257215 0.03630686
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+v 0.05960546 0.19060207 0.03418611
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+v 0.04550304 0.20330900 0.10552032
+v 0.04996095 0.19054101 0.10993973
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+v 0.05377336 0.20330910 0.07899617
+v 0.03516010 0.19516058 0.09358183
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+v 0.03718733 0.19301524 0.10993974
+v 0.04590647 0.19199265 0.10993974
+v 0.03980459 0.20330901 0.10273221
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_54.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c0cc87ee2ee1f103d845aae4825de540ecc30d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_54.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.03432262 -0.17387882 0.03418478
+v -0.00004607 -0.17659746 0.03418477
+v -0.03432262 -0.19235607 0.03418471
+v -0.03432262 -0.17372313 0.06904466
+v -0.00004607 -0.19590143 0.03418470
+v -0.03432262 -0.17371998 0.07652028
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+v -0.01268504 -0.20620399 0.12645549
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_55.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e434cfc0a455fde5373221321a50648c7e491340
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_55.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.02552998 -0.22375196 0.10176309
+v 0.03875364 -0.19940905 0.10131783
+v 0.03820729 -0.19940904 0.09776801
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+f 28 35 36
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 41 53 54
+f 44 55 45
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 46 57 47
+f 47 58 48
+f 47 57 58
+f 48 50 49
+f 48 58 51
+f 48 51 50
+f 51 58 52
+f 52 58 53
+f 53 59 60
+f 53 60 54
+f 53 58 59
+f 56 61 59
+f 56 59 57
+f 57 59 58
+f 59 61 60
+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_56.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da50f4d1623e68774c5b8e23b257bd5e3eb912d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_56.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.06035442 0.16674504 0.06086074
+v -0.03354034 0.17388044 0.07064562
+v -0.03354034 0.17386003 0.07722140
+v -0.03354034 0.17385711 0.07875275
+v -0.03354034 0.17384252 0.08690492
+v -0.03354034 0.17383082 0.10175673
+v -0.06035442 0.16675083 0.06904668
+v -0.06035442 0.16677127 0.05412731
+v -0.03354034 0.17398833 0.03631418
+v -0.03354034 0.17385116 0.10994268
+v -0.06035442 0.16682353 0.10175670
+v -0.06035442 0.16677710 0.05267479
+v -0.03354034 0.17399706 0.03470401
+v -0.03354034 0.17459088 0.11847768
+v -0.06035442 0.16743798 0.11819617
+v -0.06035442 0.16684680 0.10994265
+v -0.06035442 0.16682664 0.04597514
+v -0.03354034 0.17399997 0.03418606
+v -0.03354034 0.17562770 0.12229481
+v -0.06035442 0.16946791 0.12637085
+v -0.06035442 0.16693153 0.03418603
+v -0.03354034 0.19231620 0.03418613
+v -0.03354034 0.17675479 0.12630333
+v -0.06035442 0.17020766 0.12845394
+v -0.06035442 0.19149198 0.03418612
+v -0.05283388 0.19649833 0.06211070
+v -0.04763906 0.19649833 0.06239220
+v -0.04725844 0.19649833 0.06320291
+v -0.03849629 0.19649824 0.08594791
+v -0.03827579 0.19649824 0.08657846
+v -0.03712080 0.19649822 0.09358213
+v -0.03354034 0.19455860 0.08124126
+v -0.03354034 0.17815275 0.12971507
+v -0.06035442 0.17327151 0.13671872
+v -0.06035442 0.17211819 0.13381366
+v -0.06035442 0.19433432 0.08481065
+v -0.06000267 0.19649825 0.08538492
+v -0.03354034 0.19649810 0.12410772
+v -0.03354034 0.18002542 0.13427535
+v -0.05947768 0.17393844 0.13759700
+v -0.06035442 0.17488206 0.13877929
+v -0.06035442 0.19649809 0.12772214
+v -0.03354034 0.19649802 0.14735941
+v -0.03354034 0.18196506 0.13819381
+v -0.03404696 0.18190682 0.13829515
+v -0.03958828 0.18116415 0.13918468
+v -0.06035442 0.17753818 0.14136908
+v -0.06035442 0.19649801 0.14919478
+v -0.03476358 0.19649802 0.14746075
+v -0.06035442 0.19393800 0.14889075
+v -0.06035442 0.18948491 0.14759585
+v -0.06035442 0.18856458 0.14728056
+v -0.06035442 0.18588515 0.14624464
+v -0.03354034 0.19452631 0.14654869
+v -0.03354034 0.18240775 0.13861043
+v -0.03354034 0.18580363 0.14141416
+v -0.03354034 0.18873061 0.14329456
+v -0.03354034 0.19249927 0.14563665
+v -0.06035442 0.17922447 0.14240500
+v -0.06035442 0.19629705 0.14920604
+v -0.06015229 0.19649801 0.14921730
+v -0.04429747 0.19649802 0.14818139
+v -0.06035442 0.18459496 0.14569291
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 1 16 15
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+f 1 20 24
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+f 1 35 34
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+f 1 41 47
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+f 1 21 17
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+f 1 12 8
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+f 26 62 49
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+f 33 39 34
+f 34 40 41
+f 34 39 40
+f 36 42 37
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 40 46 41
+f 41 46 47
+f 43 49 50
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 44 55 45
+f 45 55 46
+f 46 55 56
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 48 60 61
+f 49 62 50
+f 50 62 60
+f 53 63 54
+f 54 63 58
+f 58 63 59
+f 60 62 61
+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_57.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7534fd2933e454a0afcdd0117e0644a722a308c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_57.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06091912 0.16692749 0.10993964
+v 0.03516010 0.17376861 0.10993967
+v 0.06091912 0.18610470 0.10993971
+v 0.06091912 0.16719455 0.11602080
+v 0.03516010 0.17378285 0.11028761
+v 0.03516010 0.17376861 0.10995127
+v 0.03516010 0.19324497 0.10993974
+v 0.04996095 0.19054199 0.10993973
+v 0.06091912 0.20330891 0.13068839
+v 0.06091912 0.16729427 0.11778367
+v 0.03516010 0.17424935 0.11659299
+v 0.03718733 0.19301348 0.10993974
+v 0.03516010 0.20330892 0.12816392
+v 0.05295894 0.20330891 0.12968711
+v 0.05380110 0.20330891 0.12976442
+v 0.05836238 0.20330891 0.13020901
+v 0.05877086 0.20330891 0.13025154
+v 0.04590647 0.19199141 0.10993974
+v 0.06091912 0.20330884 0.14875015
+v 0.06091912 0.16867243 0.12512514
+v 0.03516010 0.17443808 0.11854530
+v 0.03516010 0.20330884 0.14919088
+v 0.05381371 0.20330884 0.14914836
+v 0.06091912 0.20236869 0.14909035
+v 0.06091912 0.16893240 0.12637385
+v 0.03516010 0.17632551 0.12631588
+v 0.03516010 0.20236869 0.14929139
+v 0.03719237 0.20236869 0.14934164
+v 0.03719237 0.20330884 0.14923727
+v 0.04550304 0.20330884 0.14927593
+v 0.05381371 0.20236869 0.14938416
+v 0.06091912 0.19401048 0.14907486
+v 0.06091912 0.17187752 0.13408645
+v 0.03516010 0.17981905 0.13473210
+v 0.03516010 0.19618995 0.14754394
+v 0.04550304 0.20236869 0.14943056
+v 0.06091912 0.18824842 0.14740088
+v 0.06091912 0.17283547 0.13597304
+v 0.06091912 0.17382548 0.13785963
+v 0.03516010 0.18097999 0.13693570
+v 0.03516010 0.19205893 0.14587771
+v 0.06091912 0.18421711 0.14577717
+v 0.03516010 0.18179551 0.13844342
+v 0.06091912 0.17747930 0.14135447
+v 0.06091912 0.18322711 0.14512767
+v 0.03516010 0.18545288 0.14148981
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+f 24 31 32
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+f 28 32 36
+f 28 36 29
+f 29 36 30
+f 30 36 31
+f 31 36 32
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+f 33 38 34
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+f 34 39 40
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+f 39 43 40
+f 39 44 43
+f 41 45 42
+f 41 46 44
+f 41 44 45
+f 43 44 46
+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_58.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad45650ab6ca3d0fe568288a08671b058801228
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_58.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04592997 -0.20620006 0.10712700
+v -0.05120698 -0.20620006 0.10638796
+v -0.04160536 -0.20620006 0.10682623
+v -0.03432262 -0.19520224 0.12197676
+v -0.03564769 -0.19497811 0.12197676
+v -0.03761978 -0.19464193 0.12197677
+v -0.04598949 -0.19318893 0.12197677
+v -0.05395289 -0.19138430 0.12197678
+v -0.06075943 -0.18800688 0.12197679
+v -0.05313766 -0.20620006 0.10492705
+v -0.04060379 -0.20620006 0.10663718
+v -0.03432262 -0.17542076 0.12197684
+v -0.03997231 -0.20620006 0.10563172
+v -0.03749038 -0.20620004 0.10155836
+v -0.03432262 -0.19479252 0.09357496
+v -0.06075943 -0.16804763 0.12197686
+v -0.06075943 -0.19725408 0.08857349
+v -0.06066885 -0.20230477 0.09357494
+v -0.06009948 -0.20620002 0.09645378
+v -0.05939036 -0.20620004 0.09939278
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+v -0.03432262 -0.17452809 0.11812692
+v -0.04122492 -0.17342678 0.12197684
+v -0.03784494 -0.20620001 0.09359211
+v -0.03432262 -0.19235392 0.03419329
+v -0.03432262 -0.19459927 0.08540247
+v -0.06075943 -0.16722837 0.11838475
+v -0.06075943 -0.19064202 0.03419330
+v -0.06023406 -0.20620001 0.09326555
+v -0.03432262 -0.17436191 0.11567775
+v -0.04081083 -0.20619999 0.08835861
+v -0.04912879 -0.20619996 0.08014314
+v -0.05139332 -0.20619996 0.08022908
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+v -0.03432262 -0.17387859 0.03419336
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+v -0.03432262 -0.17405275 0.10994583
+v -0.06075943 -0.16712017 0.11621917
+v -0.06075943 -0.16689961 0.03419339
+v -0.05930237 -0.20619999 0.08729301
+v -0.05965175 -0.20620000 0.08893439
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+v -0.06075943 -0.16683008 0.04448851
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+v -0.03432262 -0.17403343 0.10838179
+v -0.06075943 -0.16685738 0.10994586
+v -0.06075943 -0.16672586 0.07722148
+v -0.03432262 -0.17372029 0.07652537
+v -0.03432262 -0.17378988 0.08442288
+v -0.03432262 -0.17372416 0.07722145
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+f 1 29 41
+f 1 41 40
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_59.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc325c88ff020ce6c261cd49501a27658afda59
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_59.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.06033377 0.20237052 0.09358262
+v -0.06000882 0.19649822 0.09380388
+v -0.05928849 0.20237050 0.09909258
+v -0.05930666 0.20649744 0.09926964
+v -0.05982703 0.20649746 0.09354723
+v -0.06000428 0.19649825 0.08537739
+v -0.05896809 0.19649820 0.09761882
+v -0.05882266 0.19687899 0.09821629
+v -0.05825229 0.19649820 0.09864558
+v -0.05433022 0.19649819 0.10201794
+v -0.05779101 0.20649743 0.10131430
+v -0.05887947 0.20649747 0.08863030
+v -0.05944074 0.20237054 0.08732028
+v -0.05283501 0.19649833 0.06210716
+v -0.04593160 0.19649818 0.10356250
+v -0.05121255 0.20545589 0.10639497
+v -0.05139888 0.20649741 0.10654545
+v -0.05818185 0.20649748 0.08774516
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+v -0.04997866 0.19830338 0.06462981
+v -0.04764041 0.19649833 0.06238598
+v -0.05495511 0.20649749 0.08470472
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+v -0.05014909 0.20649741 0.10693934
+v -0.03841466 0.19649819 0.10133638
+v -0.05000593 0.20649750 0.08121729
+v -0.04733819 0.20649750 0.08211128
+v -0.04726093 0.19649833 0.06320473
+v -0.03908955 0.20649747 0.09108213
+v -0.04050295 0.20649741 0.10666052
+v -0.03743073 0.20649743 0.10158427
+v -0.03900774 0.20649742 0.10424410
+v -0.03715351 0.19649821 0.09449871
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+v -0.03820106 0.20649746 0.09363575
+v -0.03717623 0.20649744 0.09847744
+v -0.03712169 0.19649822 0.09358260
+v -0.03827605 0.19649824 0.08656790
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+
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_6.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c379db32ff3c12b4a95c860e1eb2632352d92c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_6.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_7.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7bef1da18ac98bfa1a2110b623319708130914
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_7.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_8.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b8149d3707289f20dfabb5f4eab188a757c6d1
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_8.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_9.obj b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61729f8b1964772e5de386426bca21be3b31ac49
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/mjcf/mesh/pot_collision_9.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/textures/material_0.png b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e23f8ee65ba235574b46809cd1f1ad7d0927798
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 878282
diff --git a/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/video.mp4 b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0ff3e0544a32eaf09421aa981f13e1122d1f398
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/video.mp4
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