diff --git a/.gitattributes b/.gitattributes
index 83cb197a99b9bd0d07eecafb36f9bdf9695fa26a..c3fbd02324911cc3febb9e0155426909bf58526c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3855,6 +3855,4 @@ dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot
 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/6be74d72ab815c129c7e320874eb9126/6be74d72ab815c129c7e320874eb9126.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/6be74d72ab815c129c7e320874eb9126/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/6be74d72ab815c129c7e320874eb9126/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.urdf b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..15915946cf426debcb31cf7e5b0db8fa5c50b74b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.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="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.252427</scale>
+         <version>v0.1.5</version>
+         <category>pot</category>
+         <description>simple black cylindrical pot with slightly flared rim</description>
+         <min_height>0.12</min_height>
+         <max_height>0.16</max_height>
+         <real_height>0.14</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251005001806</generate_time>
+         <gs_model>mesh/pot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.562902450561523</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.usd b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.usd
new file mode 100644
index 0000000000000000000000000000000000000000..96d93c58d5b8e3c37d4cf9b303b666d34b915c3f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/2bd52314a84d592eb034bdac7a362e49.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56e3b260bc69a3fbf7822abd29ebc7fb56f2c0fda7ba41e8c0125f10dcd2abf
+size 607323
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/material.mtl b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/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/2bd52314a84d592eb034bdac7a362e49/mesh/material_0.png b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cc89ae54fd087c07fe5df65110cbd63e1c646c4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dcd51e0ce19dc2331471dc56e67b3cc239b069ddaa57ff6f0f7c4c5759b397
+size 273926
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot.glb b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..76e6ce0a428b29ce83f91b2a13b5f16abbe81aee
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f120d1e12ffcc39916d5b36172cffe0acf2c039896a17626d8005356310d36a
+size 681004
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2e118c72e9fe4fe3f2e207838ed17def6a5a3e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot.obj
@@ -0,0 +1,37116 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f83dd8d1e389a03d21492888cf36915ba782ae
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot_collision.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot_gs.ply b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mesh/pot_gs.ply
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/2bd52314a84d592eb034bdac7a362e49.xml b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/2bd52314a84d592eb034bdac7a362e49.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef9a2bf37f6535d0a0a1820bb2cdece999bb1e65
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/2bd52314a84d592eb034bdac7a362e49.xml
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+    <mesh name="collision_mesh_0_57" file="mesh/pot_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_59" file="mesh/pot_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_63" file="mesh/pot_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pot">
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+      <geom type="mesh" mesh="collision_mesh_0_63" 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/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cc89ae54fd087c07fe5df65110cbd63e1c646c4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 273926
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae27dca49ecd878fdfabde3aaf7146361735f00b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcfd6cf7f334f6c8ececb57658d5136408ce5ed2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision.obj
@@ -0,0 +1,29742 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_0.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f269aabd7c0d6081ec39f831fb867d47dc0129
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_0.obj
@@ -0,0 +1,988 @@
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_1.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8acb46316b3b4b98aa9574ea9763e7170dd150e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_10.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2005161b3b660137deecb25692a54ffc0d3dc666
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_10.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_11.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c227fa41c9e9662aebb1fb49cef8035bf1ac194
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_12.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2146c9dbe88aa9fdae5fc008bee8d6697790e527
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_12.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_13.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb975b4f578a180517a5b557422de31cb8e2761
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_13.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_14.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042891176402df69d34d7138a6b55e006ec07478
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_14.obj
@@ -0,0 +1,1600 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_15.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79bc5a20fc26fdd1c48e39fe8d56091dc4015a1
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_15.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_16.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c8f26376b17fd9f32b99459eea3d1b1b2afdcf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_16.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_17.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d9778bf270b0e5f108ccc14dc167543a86311a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_17.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_18.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e1d5c6154264ebb067e1ba25c16832460f374d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_18.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_19.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad96fe9b35c228d72119c0af1f044bd5ba267d4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_19.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_2.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a18372103173e51a6a47482608d7b7eadfa145
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_2.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.06198161 0.04200143 -0.04899643
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+v 0.06198161 0.04200144 -0.05172161
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+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_20.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54914a1cdc0f1161e5f7c6511442bd1cb2affa21
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_20.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_21.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967d4eb03ee376725119330ba252f6c4ba6e5349
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_21.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_22.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c7555da70262c8074536f2e96f517865798889
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_22.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_23.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b702fdd012ad8054194984f6b6d887a471c344f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_23.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_24.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea17d59a1fd4426485d207d68d901ae5a6f7ceb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_24.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.09126294 0.02861283 -0.04332050
+v -0.09119842 0.02861283 -0.04350435
+v -0.09141964 0.02816642 -0.04332051
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+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_25.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3715202464ec7f6f32ec9a89fd89a2ef035ec7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_25.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00000353 0.07066939 -0.05683230
+v -0.02940402 0.06427142 -0.05683232
+v -0.00000353 0.09106807 -0.05683223
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+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_26.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234fd181b7588086f3eb33dd26149b09a4b32f11
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_26.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
+v 0.03201506 -0.09503102 0.04741037
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_27.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046549f0f42a59b4d1e7e2be37224594ae7a9153
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_27.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_28.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa46dbef7d4b21305ce64060f429b0ccbcbdfdf5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_28.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_29.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1216b42f2bd09bc402c9b11bedc9997f0ae7be72
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_29.obj
@@ -0,0 +1,793 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_3.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ffa16bebcb698150c9a316f9f51e77cbe66f2b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_30.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ad05614d8d757196d1ae13142eac47724d261b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.06479261 0.00003668 -0.05768175
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+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_31.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa8a376dbe97bc999c3354d61d297e567809b352
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_31.obj
@@ -0,0 +1,784 @@
+# https://github.com/mikedh/trimesh
+v 0.04521823 -0.06620826 -0.04349817
+v 0.07076827 -0.03776288 -0.04349807
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_32.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d503650fe6dec975589a4b6c1ce5c39249fff0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_32.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_33.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf8e5be8455da6adc09f663723b7729a9ecb914
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_33.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_34.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586e6998e58070bdb1dc9cc2bd892b51cec558db
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_34.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_35.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3012b30a4c2211b8aecf84c9475cd443face3d79
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_35.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_36.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddefb037ac6632a32c79ca610f6c68070585ea3e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_36.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_37.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b826735c294c97999e965b77ec57d4dc45d18040
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_38.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb986779915ff4d0971845b0a20c4d4071979616
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_38.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_39.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e981014def5a4a34bf2fe20a4525b4d039b4dd7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_39.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_4.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5aa3cd43bd5b23b6555fba33d36d56322fd3869
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_40.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d52392ad9d24b6525c1835db3f5c4da768d6b35
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_40.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_41.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2609157433dca977c8b2724ea61c021c032b36a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_41.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_42.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baba879bfe6f3bb320d96f9c15bbbec618cc2672
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_42.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_43.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911a503a8c6d921bd20572fae56cad6a7efb1f3e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_43.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_44.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017b3ce8b52e21e4eb50c80d2fac98a837264d1b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_44.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_45.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f94a3bcbbfe93a0cecf44428e7c5b28e80decf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_45.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_46.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8d9374169a7fd9d6fc9881b600243889f798f4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_46.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_47.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f22772ee2a9ffacb40d924bffe01b86d6fc03b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_47.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_48.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b6178db01f24a7188a824244426631e03f2a16
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_48.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_49.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1926cb4467e9ca42db50ec4af14c0a14e9dc2062
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_49.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_5.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb973e4ef34c7365efab506e6ad8f9d8c480e89e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_5.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_50.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5156fe887d69dcb4332cf03c6c96f2e4ab870b32
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_50.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_51.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ae79ca2a55816a18c5fda8432ffff2e873f44b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_51.obj
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+v 0.06508282 0.06446361 -0.05527496
+v 0.07020468 0.06479695 -0.04350908
+v 0.07081514 0.05687717 -0.05721495
+v 0.07049396 0.05778041 -0.05630669
+v 0.07175529 0.05675311 -0.05540647
+v 0.07112569 0.05852858 -0.05356981
+v 0.07175529 0.05924961 -0.05085037
+v 0.07175529 0.05733848 -0.05435063
+v 0.07368662 0.06088162 -0.04350910
+v 0.07425879 0.06021097 -0.04350910
+v 0.07547545 0.05876501 -0.04350910
+v 0.06652068 0.06219195 -0.05674403
+v 0.06640795 0.06207177 -0.05721493
+v 0.07162979 0.06324632 -0.04350909
+v 0.07117886 0.06274238 -0.04548662
+v 0.07055352 0.06203298 -0.04822081
+v 0.06991541 0.06128869 -0.05103952
+v 0.07028339 0.05751681 -0.05721495
+v 0.06833716 0.05981949 -0.05721494
+v 0.06833716 0.06075761 -0.05549501
+v 0.07175529 0.06310289 -0.04350909
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 4
+f 1 4 10
+f 1 10 23
+f 1 23 35
+f 1 35 45
+f 1 45 57
+f 1 57 71
+f 1 71 84
+f 1 84 83
+f 1 83 82
+f 1 82 94
+f 1 94 87
+f 1 87 75
+f 1 75 62
+f 1 62 52
+f 1 52 51
+f 1 51 49
+f 1 49 39
+f 1 39 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 25
+f 3 25 37
+f 3 37 47
+f 3 47 59
+f 3 59 72
+f 3 72 86
+f 3 86 92
+f 3 92 91
+f 3 91 76
+f 3 76 65
+f 3 65 63
+f 3 63 54
+f 3 54 43
+f 3 43 36
+f 3 36 32
+f 3 32 31
+f 3 31 30
+f 3 30 29
+f 3 29 21
+f 3 21 28
+f 3 28 16
+f 3 16 8
+f 4 9 10
+f 5 6 11
+f 5 11 12
+f 5 12 15
+f 5 15 7
+f 6 13 11
+f 6 14 27
+f 6 27 42
+f 6 42 53
+f 6 53 58
+f 6 58 46
+f 6 46 37
+f 6 37 25
+f 6 25 13
+f 8 16 17
+f 8 17 18
+f 9 19 10
+f 9 20 17
+f 9 17 21
+f 9 21 19
+f 10 22 23
+f 10 19 24
+f 10 24 22
+f 11 13 12
+f 12 13 25
+f 12 25 15
+f 14 26 27
+f 16 28 17
+f 17 28 21
+f 17 20 18
+f 19 21 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 24
+f 22 33 34
+f 22 34 23
+f 22 24 33
+f 23 34 35
+f 24 32 36
+f 24 36 33
+f 26 38 27
+f 26 39 40
+f 26 40 38
+f 27 38 41
+f 27 41 42
+f 33 36 43
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 37 46 47
+f 38 40 48
+f 38 48 41
+f 39 49 40
+f 40 50 48
+f 40 49 51
+f 40 51 52
+f 40 52 50
+f 41 53 42
+f 41 48 53
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 45
+f 46 58 48
+f 46 48 47
+f 47 48 59
+f 48 58 53
+f 48 50 60
+f 48 60 61
+f 48 61 59
+f 50 62 60
+f 50 52 62
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 70 71
+f 56 71 57
+f 56 69 70
+f 59 61 72
+f 60 62 73
+f 60 73 74
+f 60 74 61
+f 61 74 72
+f 62 75 73
+f 63 65 64
+f 65 76 77
+f 65 77 78
+f 65 78 66
+f 66 78 68
+f 66 68 67
+f 68 79 80
+f 68 80 69
+f 68 78 81
+f 68 81 79
+f 69 80 82
+f 69 82 83
+f 69 83 84
+f 69 84 71
+f 69 71 70
+f 72 74 85
+f 72 85 86
+f 73 87 88
+f 73 88 89
+f 73 89 90
+f 73 90 85
+f 73 85 74
+f 73 75 87
+f 76 91 77
+f 77 92 93
+f 77 93 79
+f 77 79 81
+f 77 81 78
+f 77 91 92
+f 79 93 80
+f 80 93 90
+f 80 90 82
+f 82 90 89
+f 82 89 88
+f 82 88 94
+f 85 90 93
+f 85 93 86
+f 86 93 92
+f 87 94 88
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_52.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9b11c17c5c6442429a563028416ec705558d1a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_52.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.07174832 0.03322461 -0.04401919
+v 0.07174832 0.03322466 -0.05721510
+v 0.07174832 0.03551145 -0.04418453
+v 0.02711085 0.04199676 -0.05721507
+v 0.03395766 0.03551150 -0.05721380
+v 0.03636954 0.03322466 -0.05721639
+v 0.07174832 0.03551150 -0.05721509
+v 0.06197842 0.04199673 -0.04899782
+v 0.03395329 0.03551150 -0.05721638
+v 0.06197842 0.04199676 -0.05721507
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 7 10
+f 3 10 8
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 9
+f 5 9 6
+f 6 9 7
+f 7 9 10
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_53.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5e41c0daca99fa26250c88527153f1a5c34cf48
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_53.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.05856366 0.02005449 -0.05721541
+v 0.05026070 0.02005351 -0.05721644
+v 0.05856366 0.02005448 -0.05309270
+v 0.06082002 0.02005449 -0.05721541
+v 0.05856262 0.02005351 -0.05721593
+v 0.06082002 0.01004857 -0.05721596
+v 0.05856262 0.01218570 -0.05721596
+v 0.05856262 0.02005350 -0.05309219
+v 0.06082002 0.02005447 -0.05197192
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 5
+f 3 8 9
+f 4 9 6
+f 4 6 5
+f 6 9 8
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_54.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce95214254aaa5363ceee92c147a96171d9d7dd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_54.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.08371128 0.02005573 -0.04350925
+v 0.08371128 0.02005578 -0.05721376
+v 0.08371128 0.03322278 -0.04350920
+v 0.07785376 0.02005573 -0.04350925
+v 0.08371128 0.02532131 -0.05721374
+v 0.05026694 0.02005578 -0.05721376
+v 0.04471065 0.02532131 -0.05721642
+v 0.08371128 0.03322283 -0.05721237
+v 0.07310845 0.03322278 -0.04350920
+v 0.03636926 0.03322283 -0.05721237
+v 0.03901534 0.03071574 -0.05721238
+v 0.04471065 0.02532260 -0.05721642
+v 0.04179580 0.02808491 -0.05721641
+v 0.03901534 0.03071574 -0.05721640
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 12
+f 2 12 5
+f 3 8 10
+f 3 10 9
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 5 12 13
+f 5 13 14
+f 5 14 8
+f 6 11 14
+f 6 14 7
+f 7 14 13
+f 7 13 12
+f 8 14 10
+f 10 14 11
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_55.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c804fb7a6f3b39ca807048edee3880e43a9dde
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_55.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02412248 0.07374089 -0.05172149
+v 0.02412248 0.06004575 -0.05172154
+v 0.02412248 0.07374087 -0.04677723
+v 0.05248417 0.07374089 -0.05172149
+v 0.02412248 0.06061867 -0.05151377
+v 0.05248417 0.05620381 -0.05172155
+v 0.05248417 0.05562024 -0.04832998
+v 0.05248417 0.05562024 -0.04765340
+v 0.02874208 0.07374087 -0.04677384
+v 0.05248417 0.05896552 -0.04677389
+v 0.05248417 0.07374087 -0.04677384
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 10
+f 3 10 9
+f 4 11 10
+f 4 10 8
+f 4 8 7
+f 4 7 6
+f 9 10 11
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_56.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c3d97c93de165e4abc42b6b4cff7c44a4e0a1f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_56.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02874220 0.07374087 -0.04677335
+v 0.02996244 0.07374087 -0.04552104
+v 0.05912787 0.07374087 -0.04677335
+v 0.06198161 0.04904434 -0.04677344
+v 0.06198161 0.04904917 -0.04676498
+v 0.06198161 0.04982766 -0.04552113
+v 0.05719501 0.07374087 -0.04552104
+v 0.05951835 0.07374087 -0.04611060
+v 0.06024724 0.07283907 -0.04677335
+v 0.06198161 0.07129901 -0.04677336
+v 0.06198161 0.07193486 -0.04552105
+v 0.05994462 0.07364657 -0.04552104
+v 0.05983073 0.07374087 -0.04552140
+v 0.05956716 0.07374087 -0.04602699
+v 0.06035462 0.07274962 -0.04677335
+v 0.06042295 0.07269159 -0.04677335
+v 0.06198161 0.07171243 -0.04601829
+v 0.06062470 0.07308326 -0.04552104
+v 0.05964525 0.07374087 -0.04588098
+v 0.06038065 0.07272786 -0.04677335
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 20
+f 1 20 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 12
+f 2 12 7
+f 3 8 9
+f 4 10 17
+f 4 17 11
+f 4 11 6
+f 4 6 5
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 11 17 18
+f 12 18 13
+f 13 18 19
+f 14 19 15
+f 15 19 18
+f 15 18 20
+f 16 20 17
+f 17 20 18
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_57.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b310c4fd3c08fb1ccf0314a5cdfb53e2c713b042
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_57.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.08371128 0.00848196 -0.04350929
+v 0.08371128 0.02005444 -0.04350925
+v 0.07971158 0.00848196 -0.04350929
+v 0.08371128 0.00848201 -0.05721379
+v 0.08371128 0.02005449 -0.05721375
+v 0.07785178 0.02005444 -0.04350925
+v 0.06082002 0.02005447 -0.05197024
+v 0.06082002 0.01648962 -0.05383929
+v 0.06082450 0.01004865 -0.05721647
+v 0.06240421 0.00854885 -0.05721648
+v 0.06247591 0.00848201 -0.05721648
+v 0.06240645 0.00854885 -0.05721648
+v 0.06082002 0.02005449 -0.05721375
+v 0.06082002 0.01648963 -0.05721376
+f 1 2 6
+f 1 6 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 9
+f 5 9 13
+f 7 13 14
+f 7 14 8
+f 8 14 9
+f 9 14 13
+f 9 12 11
+f 9 11 10
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_58.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe4b41b067203c4dc621ad119ab4169f99887cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_58.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00000272 0.07988117 -0.05721490
+v -0.00000272 0.07988112 -0.04355868
+v 0.00828860 0.07988117 -0.05721490
+v -0.00000272 0.06769094 -0.05721494
+v 0.00828860 0.07963425 -0.04350903
+v 0.00273751 0.07988112 -0.04350903
+v 0.00699072 0.06106250 -0.05721497
+v 0.00828860 0.06106250 -0.05651324
+v 0.00828860 0.07988112 -0.04350903
+v 0.00828860 0.06106250 -0.05721497
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 10
+f 1 10 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 9 5
+f 3 5 8
+f 3 8 10
+f 5 9 6
+f 7 10 8
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_59.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1342751f59fee3968f27e180ed6cc6e68c7f48f9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_59.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02412249 0.07373780 -0.05721571
+v 0.02412249 0.04784780 -0.05721634
+v 0.02412249 0.07373778 -0.05172203
+v 0.05318389 0.07373780 -0.05721571
+v 0.02710941 0.04199987 -0.05721637
+v 0.02412249 0.04482751 -0.05721636
+v 0.05428453 0.07290815 -0.05721571
+v 0.05572611 0.07179263 -0.05721572
+v 0.05770505 0.07022966 -0.05721572
+v 0.05843140 0.06963617 -0.05721572
+v 0.06012498 0.06822856 -0.05721573
+v 0.06197791 0.06665316 -0.05721574
+v 0.02412249 0.06004392 -0.05172208
+v 0.05641170 0.07373778 -0.05172203
+v 0.05387318 0.07373780 -0.05608621
+v 0.06197791 0.04199987 -0.05721583
+v 0.05041561 0.04199985 -0.05172215
+v 0.05515912 0.07373779 -0.05391326
+v 0.05645246 0.07219036 -0.05508257
+v 0.05794222 0.07041610 -0.05640840
+v 0.05871304 0.07103755 -0.05367339
+v 0.06055856 0.06875369 -0.05528321
+v 0.06197791 0.06698564 -0.05652351
+v 0.06197791 0.06683028 -0.05684730
+v 0.05665999 0.07354202 -0.05172203
+v 0.05634870 0.07373778 -0.05183229
+v 0.06197791 0.04199985 -0.05172215
+v 0.05923557 0.07147567 -0.05172204
+v 0.05960245 0.07116805 -0.05172204
+v 0.06135162 0.06969519 -0.05172204
+v 0.06184450 0.06926638 -0.05172205
+v 0.06197791 0.06902401 -0.05199259
+v 0.06197791 0.06914209 -0.05172205
+f 1 2 6
+f 1 6 13
+f 1 13 3
+f 1 3 14
+f 1 14 26
+f 1 26 18
+f 1 18 15
+f 1 15 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 5
+f 3 13 17
+f 3 17 27
+f 3 27 33
+f 3 33 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 25
+f 3 25 14
+f 4 15 7
+f 5 13 6
+f 5 12 16
+f 5 16 27
+f 5 27 17
+f 5 17 13
+f 7 15 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 23
+f 12 23 32
+f 12 32 33
+f 12 33 27
+f 12 27 16
+f 14 25 26
+f 18 26 25
+f 18 25 19
+f 19 25 20
+f 20 25 21
+f 21 25 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_6.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca81bd68b5d99a8a8ef1b3867ce032738fdc191
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_6.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.08371128 0.03558632 -0.05721503
+v 0.08371128 0.03648340 -0.05620212
+v 0.08752054 0.03728126 -0.04470589
+v 0.08404036 0.03477489 -0.05721503
+v 0.08371128 0.00003669 -0.05721516
+v 0.08371128 0.03820092 -0.05409713
+v 0.08375631 0.03814682 -0.05404883
+v 0.08712796 0.03911148 -0.04350918
+v 0.08842234 0.03606411 -0.04350919
+v 0.08806786 0.03450437 -0.04623533
+v 0.08757828 0.03326019 -0.04897087
+v 0.08544214 0.03116403 -0.05721505
+v 0.09100419 0.00003669 -0.05721516
+v 0.08371128 0.00003664 -0.04350932
+v 0.08371128 0.04542711 -0.04453950
+v 0.08478859 0.04402063 -0.04350916
+v 0.08490637 0.04377720 -0.04350916
+v 0.08633354 0.04079745 -0.04350917
+v 0.08687393 0.03966596 -0.04350917
+v 0.08862787 0.03553668 -0.04350919
+v 0.09033794 0.03105579 -0.04350921
+v 0.08877913 0.03160577 -0.04733814
+v 0.08643284 0.03082142 -0.05477736
+v 0.08761061 0.02918052 -0.05316474
+v 0.08684621 0.02723310 -0.05721506
+v 0.09550742 0.00003664 -0.04350932
+v 0.09100419 0.00204723 -0.05721515
+v 0.08371128 0.04608978 -0.04350915
+v 0.08461077 0.04438126 -0.04350916
+v 0.09122127 0.02845470 -0.04350922
+v 0.09135983 0.02776950 -0.04377083
+v 0.08758059 0.02497012 -0.05721507
+v 0.09549009 0.00199759 -0.04350931
+v 0.09088642 0.00444996 -0.05721514
+v 0.09529957 0.00621252 -0.04350930
+v 0.09547277 0.00204718 -0.04356029
+v 0.09152033 0.02752607 -0.04350922
+v 0.08758867 0.02495659 -0.05720300
+v 0.08759213 0.02492954 -0.05721507
+v 0.09548894 0.00204718 -0.04350931
+v 0.09079751 0.00621257 -0.05721514
+v 0.09503862 0.00941316 -0.04350929
+v 0.09196372 0.02598435 -0.04350922
+v 0.09176628 0.02499261 -0.04492596
+v 0.08812674 0.02286941 -0.05721508
+v 0.09061391 0.00815098 -0.05721513
+v 0.09183902 0.00896691 -0.05335802
+v 0.09496241 0.01032376 -0.04350928
+v 0.09277315 0.02286936 -0.04350924
+v 0.09203416 0.02286937 -0.04570813
+v 0.09164619 0.02026379 -0.04867980
+v 0.08857014 0.02095805 -0.05721508
+v 0.09040030 0.01037340 -0.05721512
+v 0.09441048 0.01454319 -0.04350927
+v 0.09291518 0.02223825 -0.04350924
+v 0.09370266 0.01872656 -0.04350925
+v 0.09245446 0.01880772 -0.04716378
+v 0.08907242 0.01878071 -0.05721509
+v 0.09011163 0.01244254 -0.05721511
+v 0.08981834 0.01454324 -0.05721511
+v 0.09192562 0.01748690 -0.04949148
+v 0.09382159 0.01802783 -0.04350925
+v 0.08945693 0.01660788 -0.05721510
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 32
+f 1 32 39
+f 1 39 45
+f 1 45 52
+f 1 52 58
+f 1 58 63
+f 1 63 60
+f 1 60 59
+f 1 59 53
+f 1 53 46
+f 1 46 41
+f 1 41 34
+f 1 34 27
+f 1 27 13
+f 1 13 5
+f 1 5 14
+f 1 14 28
+f 1 28 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 5 13 26
+f 5 26 14
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 29
+f 8 29 28
+f 8 28 14
+f 8 14 26
+f 8 26 33
+f 8 33 40
+f 8 40 35
+f 8 35 42
+f 8 42 48
+f 8 48 54
+f 8 54 62
+f 8 62 56
+f 8 56 55
+f 8 55 49
+f 8 49 43
+f 8 43 37
+f 8 37 30
+f 8 30 21
+f 8 21 20
+f 8 20 9
+f 9 20 10
+f 10 21 11
+f 10 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 13 27 26
+f 15 28 29
+f 15 29 16
+f 21 30 24
+f 21 24 22
+f 22 24 23
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 26 27 33
+f 27 34 35
+f 27 35 36
+f 27 36 33
+f 30 37 31
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 33 36 40
+f 34 41 35
+f 35 41 42
+f 35 40 36
+f 37 43 44
+f 37 44 38
+f 38 44 39
+f 39 44 45
+f 41 46 47
+f 41 47 42
+f 42 47 48
+f 43 49 44
+f 44 49 50
+f 44 50 45
+f 45 50 51
+f 45 51 52
+f 46 53 47
+f 47 53 48
+f 48 53 54
+f 49 55 51
+f 49 51 50
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 51 55 56
+f 53 59 54
+f 54 59 60
+f 54 60 61
+f 54 61 62
+f 56 62 61
+f 56 61 58
+f 56 58 57
+f 58 61 63
+f 60 63 61
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_60.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..754688be98923aefcdc7de6bba5b99cfc23c6775
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_60.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.05923326 0.07512664 -0.04350904
+v 0.05719363 0.07374087 -0.04552165
+v 0.05982933 0.07374087 -0.04552300
+v 0.05982933 0.07374181 -0.04552165
+v 0.05964281 0.07374087 -0.04588258
+v 0.05933463 0.07415886 -0.04552165
+v 0.05861691 0.07512664 -0.04468977
+v 0.05893319 0.07537800 -0.04350904
+v 0.02857399 0.07512664 -0.04350904
+v 0.02996483 0.07374087 -0.04552165
+v 0.05956576 0.07374087 -0.04602749
+v 0.05898591 0.07445165 -0.04552165
+v 0.05831279 0.07512665 -0.04524525
+v 0.05679625 0.07700855 -0.04350904
+v 0.05774511 0.07443000 -0.04784152
+v 0.01840830 0.07817875 -0.04350903
+v 0.01968560 0.07512664 -0.04479174
+v 0.02223615 0.07374087 -0.04583025
+v 0.05815465 0.07374088 -0.04862912
+v 0.05496343 0.07550699 -0.05029420
+v 0.05633399 0.07603136 -0.04666078
+v 0.05617180 0.07748303 -0.04350904
+v 0.05650024 0.07374089 -0.05156752
+v 0.05635021 0.07374089 -0.05183184
+v 0.05418083 0.07491202 -0.05302732
+v 0.01840830 0.08335848 -0.04350901
+v 0.01840830 0.07817880 -0.05721487
+v 0.01968560 0.07512669 -0.05721488
+v 0.02223615 0.07374091 -0.05721489
+v 0.05386454 0.07887446 -0.04430870
+v 0.05515401 0.07824841 -0.04350903
+v 0.05515806 0.07374090 -0.05391154
+v 0.05386860 0.07374091 -0.05608515
+v 0.05352798 0.07443284 -0.05514459
+v 0.05277782 0.07404404 -0.05721489
+v 0.05080308 0.07544678 -0.05721488
+v 0.01840830 0.08335853 -0.05721485
+v 0.04663056 0.08335848 -0.04350901
+v 0.05317926 0.07374091 -0.05721489
+v 0.05091256 0.07963420 -0.04694119
+v 0.05327252 0.07944779 -0.04376128
+v 0.05017456 0.07918233 -0.04917787
+v 0.05338606 0.07944779 -0.04350903
+v 0.04978529 0.07607847 -0.05721488
+v 0.03614048 0.08335853 -0.05721485
+v 0.04775377 0.08276915 -0.04350902
+v 0.04577903 0.08335848 -0.04478903
+v 0.05211687 0.08024518 -0.04350903
+v 0.04832146 0.08245471 -0.04350902
+v 0.05021511 0.08135418 -0.04350902
+v 0.05299679 0.07971139 -0.04350903
+v 0.04802140 0.07717053 -0.05721488
+v 0.04630211 0.07817785 -0.05721487
+v 0.04603854 0.07833131 -0.05721487
+v 0.04547085 0.07889052 -0.05664866
+v 0.04652108 0.07944783 -0.05374782
+v 0.04796463 0.08135419 -0.04683250
+v 0.03682170 0.08335853 -0.05639505
+v 0.03688658 0.08302338 -0.05721486
+v 0.04810655 0.08257427 -0.04350902
+v 0.04587229 0.08327093 -0.04488697
+v 0.04519106 0.07881991 -0.05721487
+v 0.04319604 0.07985925 -0.05721487
+v 0.04025622 0.08135423 -0.05721486
+v 0.03979396 0.08158865 -0.05721486
+v 0.04099422 0.08291886 -0.05217127
+v 0.03851666 0.08335852 -0.05424693
+v 0.03715015 0.08309023 -0.05671170
+v 0.03764891 0.08265623 -0.05721486
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 14
+f 1 14 22
+f 1 22 31
+f 1 31 43
+f 1 43 51
+f 1 51 48
+f 1 48 50
+f 1 50 49
+f 1 49 60
+f 1 60 46
+f 1 46 38
+f 1 38 26
+f 1 26 16
+f 1 16 9
+f 1 9 10
+f 1 10 2
+f 2 10 18
+f 2 18 29
+f 2 29 39
+f 2 39 33
+f 2 33 32
+f 2 32 24
+f 2 24 23
+f 2 23 19
+f 2 19 11
+f 2 11 5
+f 2 5 3
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 19 12
+f 12 19 15
+f 13 15 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 19 23
+f 15 23 24
+f 15 24 25
+f 15 25 20
+f 16 26 37
+f 16 37 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 20 25 30
+f 20 30 21
+f 21 30 31
+f 21 31 22
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 30
+f 26 38 47
+f 26 47 67
+f 26 67 58
+f 26 58 45
+f 26 45 37
+f 27 37 45
+f 27 45 59
+f 27 59 69
+f 27 69 65
+f 27 65 64
+f 27 64 63
+f 27 63 62
+f 27 62 54
+f 27 54 53
+f 27 53 52
+f 27 52 44
+f 27 44 36
+f 27 36 35
+f 27 35 39
+f 27 39 29
+f 27 29 28
+f 30 40 41
+f 30 41 31
+f 30 36 42
+f 30 42 40
+f 31 41 43
+f 33 39 34
+f 34 39 35
+f 36 44 42
+f 38 46 47
+f 40 48 41
+f 40 42 49
+f 40 49 50
+f 40 50 48
+f 41 48 51
+f 41 51 43
+f 42 44 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 49
+f 45 58 59
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 49 57 60
+f 54 62 55
+f 55 62 61
+f 55 61 56
+f 56 61 57
+f 57 61 60
+f 58 67 68
+f 58 68 59
+f 59 68 69
+f 65 69 66
+f 66 69 67
+f 67 69 68
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_61.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c60a3323b4f74ca52549299fc95a8ae379a748
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_61.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00000223 0.08335904 -0.05721485
+v 0.01331197 0.08335904 -0.05721485
+v -0.00000223 0.07988150 -0.05721487
+v -0.00000223 0.08335899 -0.04350901
+v 0.01331197 0.07988150 -0.05721487
+v 0.01331197 0.08335899 -0.04350901
+v -0.00000223 0.07988145 -0.04355868
+v -0.00000223 0.07989780 -0.04350903
+v 0.01331197 0.07988145 -0.04350903
+v 0.00273751 0.07988145 -0.04350903
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 8 10
+f 4 10 9
+f 4 9 6
+f 7 10 8
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_62.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a605b70b2919c50eba3447c78d3d8be8586965
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_62.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.08371128 0.00003663 -0.04350932
+v 0.08371128 0.00003668 -0.05721516
+v 0.08371128 0.00848196 -0.04350929
+v 0.08005636 0.00003663 -0.04350932
+v 0.08371128 0.00848201 -0.05721513
+v 0.07138477 0.00003668 -0.05721516
+v 0.06247201 0.00848201 -0.05721648
+v 0.07971332 0.00848196 -0.04350929
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_63.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c75393eca7b0207c63026cd7e785d50354e153
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_63.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02095952 0.07512296 -0.04552090
+v 0.02095952 0.07427851 -0.04552091
+v 0.02095952 0.07512296 -0.04514732
+v 0.05815048 0.07512296 -0.04552090
+v 0.06198161 0.04982663 -0.04552100
+v 0.06198161 0.05103757 -0.04350932
+v 0.02857360 0.07512295 -0.04350923
+v 0.05831512 0.07512296 -0.04524264
+v 0.05851190 0.07503629 -0.04510360
+v 0.05898979 0.07444938 -0.04552091
+v 0.06198161 0.07193585 -0.04552092
+v 0.06198161 0.07283229 -0.04350924
+v 0.05923476 0.07512295 -0.04350923
+v 0.05843159 0.07512296 -0.04503172
+v 0.05862033 0.07512295 -0.04468729
+v 0.05907413 0.07512295 -0.04381842
+v 0.05933515 0.07504123 -0.04350923
+v 0.06105796 0.07361978 -0.04350924
+v 0.06062425 0.07308242 -0.04552091
+v 0.06198161 0.07237415 -0.04454551
+v 0.06198161 0.07257969 -0.04408685
+v 0.06162019 0.07314184 -0.04350924
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 16
+f 1 16 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 20
+f 5 20 21
+f 5 21 12
+f 5 12 6
+f 6 12 22
+f 6 22 18
+f 6 18 17
+f 6 17 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 19 20
+f 12 21 22
+f 13 17 16
+f 18 22 21
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_7.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db18479952562dab5875fb9579ab3f05ceb52f6
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_7.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v 0.01878343 0.12678337 0.05975555
+v 0.01878343 0.12591363 0.06329201
+v 0.02295146 0.12590887 0.06327937
+v 0.02295146 0.12677387 0.05975555
+v 0.01878343 0.12579482 0.05660662
+v 0.01461540 0.12569978 0.05670562
+v -0.00000353 0.12529105 0.05719007
+v 0.01461540 0.12660277 0.05975555
+v -0.00000353 0.12544311 0.06269172
+v 0.01461540 0.12582807 0.06318459
+v 0.01878343 0.12395552 0.06534355
+v 0.01461540 0.12388898 0.06523613
+v 0.02295146 0.12391275 0.06533091
+v 0.02712565 0.12580906 0.06314035
+v 0.02712565 0.12655524 0.05975554
+v 0.02712565 0.12567126 0.05676459
+v 0.02295146 0.12579007 0.05662979
+v 0.01878343 0.12319039 0.05455508
+v 0.01461540 0.12319989 0.05465407
+v -0.00000353 0.12294325 0.05513641
+v -0.00000353 0.12415992 0.05617272
+v -0.00000353 0.12559521 0.05852757
+v -0.00000353 0.12580432 0.05975554
+v -0.00000353 0.12369413 0.06474324
+v 0.01878343 0.12186911 0.06632296
+v -0.00000353 0.12161247 0.06637351
+v 0.02295146 0.12182634 0.06630401
+v 0.02712565 0.12168376 0.06627241
+v 0.03129368 0.12144137 0.06620501
+v 0.02712565 0.12377017 0.06519188
+v 0.03129368 0.12556668 0.06282442
+v 0.03545554 0.12518647 0.06224939
+v 0.03129368 0.12604195 0.05975554
+v 0.03441970 0.12513896 0.05740491
+v 0.03129368 0.12540510 0.05706790
+v 0.03129368 0.12284344 0.05513220
+v 0.02715648 0.12248700 0.05451084
+v 0.02295146 0.12306682 0.05457824
+v 0.00210515 0.11256825 0.04745471
+v 0.00095216 0.11255874 0.04745471
+v -0.00000353 0.11254924 0.04745471
+v -0.00000353 0.12191193 0.05430653
+v -0.00000353 0.11868007 0.06739716
+v 0.02295146 0.11868007 0.06711703
+v 0.02712565 0.11868007 0.06704331
+v 0.03129368 0.11868007 0.06691904
+v 0.03545554 0.11868007 0.06673789
+v 0.03545554 0.12114670 0.06609547
+v 0.03820546 0.12091382 0.06599437
+v 0.03129368 0.12352778 0.06487594
+v 0.03545554 0.12322836 0.06430091
+v 0.04098620 0.12046707 0.06578585
+v 0.03930912 0.12273410 0.06382068
+v 0.03763205 0.12494883 0.06185341
+v 0.03763205 0.12494883 0.06144479
+v 0.03567135 0.12526252 0.05994721
+v 0.03720044 0.12484904 0.05870870
+v 0.04654152 0.12108495 0.05729746
+v 0.04379777 0.12166002 0.05674352
+v 0.03962974 0.12239668 0.05621905
+v 0.03567135 0.12321414 0.05611374
+v 0.03140467 0.10796293 0.04745470
+v 0.02727363 0.10897049 0.04745470
+v 0.02856843 0.12054791 0.05363461
+v 0.04379777 0.11868012 0.05488365
+v 0.03545554 0.11923143 0.05388737
+v 0.01461540 0.11142286 0.04745471
+v 0.01427629 0.11147989 0.04745471
+v 0.01044121 0.11201219 0.04745471
+v 0.00931905 0.11212625 0.04745471
+v 0.00627318 0.11239715 0.04745471
+v 0.00419533 0.11248270 0.04745471
+v -0.00000353 0.10017809 0.04745467
+v -0.00000353 0.11451200 0.06835762
+v 0.00210515 0.11451200 0.06836394
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_8.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93acbdb34d138100b9338314f72ccdffe06b41d3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_9.obj b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11ead0e809d87d68b891fb0b06baf7657295d67
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/mjcf/mesh/pot_collision_9.obj
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