diff --git a/.gitattributes b/.gitattributes
index 899efaff51d580ed6065d2b3f45c9336f7d3615d..ffd3634dd09819e79e4d5cda04a199c02085e730 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3858,6 +3858,6 @@ dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_gs.p
 dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/be302451501a524489fa951b2040efe0/be302451501a524489fa951b2040efe0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/be302451501a524489fa951b2040efe0/mesh/pot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/be302451501a524489fa951b2040efe0/mesh/pot_gs.ply filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.urdf b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c7d6c509d671fb6ee0b0f3a3dbf5f664adafa1b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soup_pot">
+   <link name="soup_pot">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/soup_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/soup_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="2.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.611917</scale>
+         <version>v0.1.7</version>
+         <category>soup pot</category>
+         <description>red metallic soup pot with side handles</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20260120012653</generate_time>
+         <gs_model>mesh/soup_pot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.728210926055908</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/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.usd b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3e27457b166612cd71a5bddfc83112815dfb4da0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9097766744767393a7228c54d39d14c6051fb4e61b78ade2c202daa85896da78
+size 352231
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/material.mtl b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/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/bc4f157ed6015f68a223cddbc41982f4/mesh/material_0.png b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e34c72612ff166e92331401785cd8ddfd7015a4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2b7b12a48a1dc1d4540c67011114d62bb596cd67a5e2481464b8a2f0a930b0
+size 2077474
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.glb b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..df08e2a2b8be5be6b66566fe3be0c32be8609821
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e65f3b745be4508bcd7acaa327b1d850a7b167a14d272904ce699b0ca8a854
+size 2323940
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc0c7ff3ab3e3bc8d42b8743284987c5d0ce49f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.obj
@@ -0,0 +1,22568 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_collision.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3e27b4f1b2c7b6863f02757a173f33e3d8c2dde
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_collision.obj
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/bc4f157ed6015f68a223cddbc41982f4.xml b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/bc4f157ed6015f68a223cddbc41982f4.xml
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index 0000000000000000000000000000000000000000..3334618ef77fa19fcacf93615e46c500ff21f3a4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/bc4f157ed6015f68a223cddbc41982f4.xml
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+    <mesh name="collision_mesh_0_31" file="mesh/soup_pot_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </worldbody>
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/material_0.png
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+size 2077474
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1b63a0e08e9fa759214054d2e2d35bbcabdb73
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fd278fb36530fd97550ccecdab6621e6666215
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision.obj
@@ -0,0 +1,11734 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_0.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec772dd1ee8a14882f6f9ccb3a331a707aaf9582
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_0.obj
@@ -0,0 +1,3160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_1.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd03fb4311357cc19504c4d6884fb609354fdf5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_1.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.10061953 -0.15966704 0.01604447
+v 0.10061953 -0.15777383 0.02230592
+v 0.10061953 -0.18087227 0.01604440
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_10.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8517fc73d1df1d5ed801b24955c3b8645f4f56fa
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_10.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_11.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d4d756392d39d12ca364fe1fa28c548e33ad12
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_11.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.15265302 0.10148662 0.03042211
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_12.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336cc2b3bd003ca05401bd371ce6817b8dced925
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_12.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.06977150 -0.19915912 0.01603396
+v 0.04044139 -0.20209450 -0.02614090
+v 0.06977150 -0.19882783 0.01193052
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_13.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d75350b2644b2479d7990fd1f044c22cc6bf43
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_13.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_14.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fff3354f8b54db060fd5d128293d1a87718e12
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_15.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf98985092ee5dc0998240c5c26ae4f0ef0cddd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_15.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_16.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b3b64e1e21b52e2d13adf47690cf9675d610084
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_17.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d941dd3edac9939ce8d2036c863712a83e6a0c16
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_17.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_18.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433f9ea3db70f41132453896acb427ae0b6f8897
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_18.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_19.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de3fb9acd7c2b9bf589d3f88bc1722654f170d4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_2.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8411753ce511620399f4ba7d63bb0c72f4a561a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_2.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_20.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df49c8d3986ef0a957d7749522718abcb8b21c20
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_20.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_21.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce1ceffee19ca0af269fdc9f1cb3ee228b44d5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_21.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_22.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a6ae5e977aec285fce4bc98b2a4c5d15b000d3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_22.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.00523933 0.30788550 0.04488856
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_23.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da59240e0d1d790c0a366299d50d348416d589a8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_23.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_24.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2392822e8bd74fced64953138b505a6bac6fff26
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_24.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_25.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d419574d9f5202df85dd11b9e6955607514d91
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_25.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_26.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f1cdf9f065af186f5cfa06df7f6a9adb59d304
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_27.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85a16add725870590d1083bd606967516efeeef
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.19353396 -0.04015177 -0.02666695
+v -0.19569440 -0.04497864 0.01603451
+v -0.19391856 -0.05154721 0.01603449
+v -0.18747991 -0.06545747 -0.02191478
+v -0.19040960 -0.05533194 -0.02191474
+v -0.19280272 -0.04464478 -0.02285597
+v -0.19565167 -0.04522283 0.01603451
+v -0.19394704 -0.05144954 0.01603449
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 38
+f 1 38 57
+f 1 57 58
+f 1 58 39
+f 1 39 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
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+f 1 10 19
+f 1 19 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
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+f 3 7 8
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+f 5 30 32
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+f 18 32 30
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+f 24 36 38
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+f 28 46 29
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+f 33 48 47
+f 34 49 50
+f 34 50 48
+f 35 47 36
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+f 36 53 54
+f 36 54 55
+f 36 55 38
+f 36 47 56
+f 36 56 51
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+f 38 54 57
+f 39 58 40
+f 40 58 54
+f 40 54 53
+f 40 53 43
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+f 42 59 45
+f 43 59 44
+f 43 53 59
+f 45 59 60
+f 47 48 56
+f 48 50 51
+f 48 51 56
+f 49 61 62
+f 49 62 50
+f 50 62 52
+f 50 52 51
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+f 53 62 63
+f 53 63 59
+f 54 58 57
+f 59 63 64
+f 59 64 65
+f 59 65 60
+f 61 66 62
+f 62 66 63
+f 63 66 65
+f 63 65 64
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_28.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d9b93930a4de0f6030ec3a017347a372d3488e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.17817812 0.08144501 -0.04256114
+v -0.15099092 0.08144501 -0.04256114
+v -0.18217036 0.07175604 -0.04256118
+v -0.17859689 0.08144500 -0.04164898
+v -0.16686214 0.08144479 0.01603498
+v -0.18276594 -0.00008935 0.01603468
+v -0.16877916 -0.00008913 -0.04256144
+v -0.18290087 0.06976079 -0.04256118
+v -0.18365930 0.07205930 -0.03734639
+v -0.18126304 0.07576251 -0.04071963
+v -0.17876440 0.08144500 -0.04128182
+v -0.18417578 0.08144479 0.01603498
+v -0.19852084 -0.00008935 0.01603468
+v -0.19389115 -0.00008913 -0.04256144
+v -0.18344991 0.06800496 -0.04256119
+v -0.18460384 0.06598575 -0.04071967
+v -0.18414320 0.07344798 -0.03146037
+v -0.18233322 0.07850795 -0.03146035
+v -0.18118392 0.08144497 -0.03146034
+v -0.18736305 0.05602544 -0.04100080
+v -0.18934521 0.05602541 -0.03146043
+v -0.18648829 0.06614534 -0.03146040
+v -0.18208195 0.08144493 -0.02191424
+v -0.18272872 0.07976891 -0.02191425
+v -0.18456663 0.07470096 -0.02191427
+v -0.19374690 0.05161172 0.01603487
+v -0.19664570 -0.00008921 -0.02191454
+v -0.19850222 0.00540958 0.01603470
+v -0.19663640 0.00540972 -0.02191452
+v -0.19389115 0.00019819 -0.04256144
+v -0.19451930 -0.00008914 -0.04011180
+v -0.18633475 0.05788503 -0.04256123
+v -0.18975002 0.04589752 -0.04100084
+v -0.19015018 0.05602537 -0.02191433
+v -0.18730722 0.06614530 -0.02191430
+v -0.19169030 0.04589749 -0.03146047
+v -0.19347703 0.04055018 -0.02590723
+v -0.19267208 0.04524301 -0.02240200
+v -0.19484501 0.04786064 0.01603486
+v -0.19603616 -0.00008917 -0.03146064
+v -0.19832075 0.01553750 0.01603474
+v -0.19831611 0.01576895 0.01603474
+v -0.19794386 0.02565743 0.01603477
+v -0.19622227 0.01553764 -0.02191448
+v -0.19602684 0.00540976 -0.03146062
+v -0.19387719 0.00255259 -0.04256143
+v -0.19451464 0.00540979 -0.04004868
+v -0.18858212 0.04823597 -0.04256126
+v -0.18903346 0.04589753 -0.04256127
+v -0.19258366 0.02565765 -0.04239498
+v -0.19194621 0.03505929 -0.04022067
+v -0.19361196 0.03119645 -0.03652043
+v -0.19508230 0.04682311 0.01550133
+v -0.19314202 0.03845120 -0.03146050
+v -0.19725989 0.03578535 0.01603481
+v -0.19722265 0.03599286 0.01603481
+v -0.19664104 0.03900171 0.01603482
+v -0.19392371 0.03339123 -0.03146052
+v -0.19792991 0.02588888 0.01603478
+v -0.19551502 0.02565757 -0.02191445
+v -0.19553828 0.01553768 -0.03146058
+v -0.19426803 0.01553770 -0.03913074
+v -0.19385857 0.00540980 -0.04256142
+v -0.19366780 0.00943223 -0.04256141
+v -0.19246269 0.02584920 -0.04256135
+v -0.19249061 0.02565765 -0.04256135
+v -0.19263484 0.02451637 -0.04256135
+v -0.19388649 0.02565763 -0.03762192
+v -0.19478451 0.02565761 -0.03146055
+v -0.19337001 0.01553772 -0.04256138
+v -0.19320252 0.01769259 -0.04256138
+f 1 2 7
+f 1 7 14
+f 1 14 30
+f 1 30 46
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+f 1 64 70
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+f 15 20 16
+f 17 25 18
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+f 20 32 33
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+f 22 35 25
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+f 29 43 44
+f 29 44 45
+f 30 31 47
+f 30 47 46
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+f 33 48 49
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+f 34 39 35
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+f 36 52 54
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+f 60 69 61
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+f 61 68 62
+f 62 70 64
+f 62 68 70
+f 67 71 68
+f 68 71 70
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_29.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba350b91cf743b81f096d739692f04b9b5a96247
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02967191 -0.21683960 0.05413366
+v -0.02967191 -0.21651599 0.06231267
+v -0.03578010 -0.21612843 0.06228934
+v -0.04595686 -0.21537328 0.06208860
+v -0.04595686 -0.21537325 0.05540814
+v -0.02967191 -0.20464519 0.01604434
+v -0.02967191 -0.20667108 0.06210730
+v -0.03578010 -0.20719050 0.06281223
+v -0.04595686 -0.20719050 0.06355450
+v -0.05613363 -0.20719050 0.06373190
+v -0.05613363 -0.21430248 0.06146770
+v -0.05613363 -0.21430246 0.05639317
+v -0.03578010 -0.20354243 0.01604434
+v -0.02967191 -0.18780417 0.01604440
+v -0.05613363 -0.19945920 0.06146776
+v -0.06609644 -0.19702194 0.06139775
+v -0.02967191 -0.20277945 0.05965175
+v -0.06609644 -0.20719050 0.06277955
+v -0.06609644 -0.21299594 0.06013723
+v -0.06609644 -0.21299593 0.05804112
+v -0.06609644 -0.19783286 0.01604436
+v -0.06609644 -0.17783139 0.01604444
+v -0.06609644 -0.17602146 0.02580137
+v -0.02967191 -0.18616603 0.02580600
+v -0.02967191 -0.20212419 0.05920826
+v -0.06609644 -0.19285462 0.05812055
+v -0.06609644 -0.17646500 0.03534822
+v -0.02967191 -0.18644576 0.03534819
+v -0.02967191 -0.20029424 0.05673868
+v -0.06609644 -0.18025276 0.04202400
+v -0.06609644 -0.18975810 0.05417111
+v -0.02967191 -0.19008170 0.04263552
+f 1 2 3
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+f 1 4 5
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+f 1 6 14
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+f 1 24 28
+f 1 28 32
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+f 1 29 25
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+f 16 23 22
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+f 16 19 18
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 30 32
+f 27 32 28
+f 29 32 30
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_3.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d01bdda5fef6394b3954996713f9386a0dbc6b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_3.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.06486355 0.17798646 -0.00866679
+v -0.06486355 0.19573016 -0.00866672
+v -0.06486355 0.17827690 0.01604107
+v -0.11341842 0.14949343 -0.00866689
+v -0.08667165 0.22368564 0.01604124
+v -0.06486355 0.19827941 0.01489960
+v -0.06997809 0.19464796 -0.00866673
+v -0.06486355 0.19828666 0.01604115
+v -0.11341842 0.15066995 0.01604097
+v -0.11341842 0.16927077 -0.00866682
+v -0.08895798 0.22125251 0.01604123
+v -0.08106277 0.19048621 -0.00866674
+v -0.08697110 0.18771172 -0.00866675
+v -0.09304581 0.18394945 -0.00866676
+v -0.10556598 0.17503765 -0.00866680
+v -0.11065675 0.17138432 -0.00866681
+v -0.11315698 0.16947414 -0.00866682
+v -0.11341842 0.17083950 0.01604105
+v -0.09503744 0.21009643 0.01604119
+v -0.09208089 0.21598679 0.01604121
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
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+f 2 7 5
+f 3 8 5
+f 3 5 11
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+f 3 20 19
+f 3 19 18
+f 3 18 9
+f 3 9 4
+f 4 9 18
+f 4 18 10
+f 5 8 6
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+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 10
+f 5 10 11
+f 10 18 19
+f 10 19 20
+f 10 20 11
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_30.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201852bc54f95d8e3db2fe386da91d8bbf27a336
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_30.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.11208662 0.13103881 -0.04245062
+v 0.11208662 0.15097779 -0.00957297
+v 0.11111974 0.13135657 -0.04245062
+v 0.11208662 0.16547239 -0.04245049
+v 0.11208662 0.17029359 -0.00957289
+v 0.07320229 0.17457105 -0.00957288
+v 0.08145878 0.15256668 -0.04245054
+v 0.11208662 0.16605290 -0.04117607
+v 0.10526140 0.17045260 -0.04245047
+v 0.10657087 0.16989651 -0.04158155
+v 0.11208662 0.16989034 -0.02188590
+v 0.11050307 0.17150350 -0.00957289
+v 0.07320229 0.15955117 -0.04245051
+v 0.07320229 0.19346523 -0.00957281
+v 0.11208662 0.16748888 -0.03641627
+v 0.10308022 0.17340403 -0.03878488
+v 0.09823824 0.17487670 -0.04245046
+v 0.11022520 0.17130800 -0.02191807
+v 0.11208662 0.16959703 -0.02486921
+v 0.09654811 0.18203218 -0.00957285
+v 0.07320229 0.18733024 -0.04245041
+v 0.07650641 0.19207201 -0.00957281
+v 0.07320229 0.19121045 -0.02810990
+v 0.11208662 0.16889433 -0.03146018
+v 0.10950955 0.17083141 -0.03146017
+v 0.09729040 0.17573829 -0.04158152
+v 0.09054511 0.18209335 -0.03358739
+v 0.09561930 0.17972853 -0.03082614
+v 0.10442014 0.17431448 -0.03146016
+v 0.08274160 0.18333387 -0.04245043
+v 0.08836394 0.18090793 -0.04100223
+v 0.10513578 0.17486441 -0.02191806
+v 0.09286334 0.18434201 -0.00957284
+v 0.07320229 0.18751966 -0.04205135
+v 0.07773593 0.18559481 -0.04245042
+v 0.08636168 0.18772731 -0.00957283
+v 0.07618285 0.18944449 -0.03146010
+v 0.07320229 0.19067273 -0.03146010
+v 0.09162238 0.18266163 -0.02722492
+v 0.08327834 0.18360884 -0.04100222
+v 0.08683750 0.18451929 -0.03082612
+v 0.07618285 0.18681693 -0.04100220
+v 0.09031672 0.18568636 -0.00957284
+v 0.07320229 0.18800240 -0.04102794
+v 0.07320229 0.18923674 -0.03665756
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_31.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f7a6ba1e0f973609f73fbfa84f1277cf61912c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_31.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_32.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c3739efb8e0338c96b060a11f72e4dfddd78bc
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_32.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_33.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7056b2eeecbc66055a59f3c06c2013090c3ed0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_33.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_34.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d365d28fe289706cd8f0515041b95d609067fb3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_35.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e89476fa241c113b580b9c154eb41fcccfdff25f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_35.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_36.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6cd4898117ce4b5222bd571ec86b7795746ab50
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_36.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v -0.02967190 -0.19008230 0.04263514
+v 0.06662703 -0.17962137 0.04192460
+v -0.02967190 -0.18644652 0.03535169
+v 0.06662703 -0.17539513 0.03452895
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+f 1 5 6
+f 1 6 7
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+f 1 9 10
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+f 1 11 2
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+f 2 15 12
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+f 57 58 60
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_37.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60da8169fb336e12cf344b3bd4b784596146e789
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_37.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.15013062 0.08176075 -0.04245080
+v 0.16693339 0.08176053 0.01604072
+v 0.17779523 0.08176075 -0.04245080
+v 0.16872796 0.00147431 -0.04245109
+v 0.18257443 0.00147409 0.01604043
+v 0.18380701 0.08176053 0.01604072
+v 0.17823914 0.08176074 -0.04163778
+v 0.18179993 0.07236755 -0.04245083
+v 0.19409269 0.00147431 -0.04245109
+v 0.19837130 0.00147409 0.01604043
+v 0.18563463 0.07626610 0.01604070
+v 0.18430286 0.07491424 -0.02191352
+v 0.18273026 0.08066805 -0.01237485
+v 0.18179520 0.08176067 -0.02191350
+v 0.17863111 0.08176074 -0.04091637
+v 0.18341032 0.07221031 -0.03749257
+v 0.18335364 0.06785566 -0.04245085
+v 0.18103014 0.07585757 -0.04080189
+v 0.19422491 0.00147430 -0.04185564
+v 0.19409740 0.00478355 -0.04245108
+v 0.19657673 0.00147423 -0.02191379
+v 0.19655784 0.00541231 -0.02191378
+v 0.19834768 0.00541217 0.01604044
+v 0.18882705 0.06614186 0.01604066
+v 0.18711749 0.06614200 -0.02191356
+v 0.18248469 0.07997636 -0.02191351
+v 0.18631467 0.06614204 -0.03145794
+v 0.18388729 0.07362518 -0.03145791
+v 0.18124267 0.08176069 -0.02764471
+v 0.18206439 0.07868729 -0.03145789
+v 0.17992036 0.08176072 -0.03556305
+v 0.18086014 0.08176071 -0.03145788
+v 0.18925681 0.05602567 -0.03145797
+v 0.18728752 0.05602570 -0.04100235
+v 0.18440204 0.06606347 -0.04080193
+v 0.18415646 0.06508878 -0.04245086
+v 0.19422491 0.00586828 -0.04187281
+v 0.19604309 0.00147427 -0.03145817
+v 0.19409740 0.00542811 -0.04245108
+v 0.19602893 0.00541235 -0.03145816
+v 0.19813989 0.01553640 0.01604048
+v 0.19785653 0.02566064 0.01604051
+v 0.19242562 0.05460275 0.01604062
+v 0.19444214 0.04806287 0.01604060
+v 0.19474911 0.04687594 0.01540506
+v 0.18995574 0.05602563 -0.02191359
+v 0.18974795 0.04590146 -0.04100239
+v 0.19323791 0.04089432 -0.02677458
+v 0.19195810 0.04491887 -0.03055912
+v 0.18671136 0.05602571 -0.04245089
+v 0.19406906 0.00642638 -0.04245108
+v 0.19413518 0.01553661 -0.04009214
+v 0.19549055 0.01553658 -0.03145812
+v 0.19544333 0.02566078 -0.02191371
+v 0.19715760 0.03578487 0.01604055
+v 0.19462633 0.04734757 0.01604059
+v 0.19655312 0.03864607 0.01604056
+v 0.18907736 0.04590147 -0.04245093
+v 0.19286009 0.03860695 -0.03313560
+v 0.19340791 0.03185486 -0.03697169
+v 0.19187780 0.03544708 -0.04049286
+v 0.19236895 0.02821550 -0.04245100
+v 0.19366764 0.03544704 -0.03055915
+v 0.19357321 0.01553662 -0.04245104
+v 0.19373377 0.02566084 -0.03836874
+v 0.19475855 0.02566082 -0.03145809
+v 0.19271842 0.02566086 -0.04245101
+f 1 2 6
+f 1 6 14
+f 1 14 29
+f 1 29 32
+f 1 32 31
+f 1 31 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 36
+f 1 36 50
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+f 47 60 61
+f 47 61 62
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+f 48 57 55
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+f 53 66 54
+f 54 66 55
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+f 59 63 60
+f 60 67 62
+f 60 62 61
+f 60 63 66
+f 60 66 65
+f 60 65 67
+f 64 67 65
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_38.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8672a9d9d6345eb3f9f1277693158cef164bb2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_38.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00033530 0.19061695 0.01603538
+v -0.00033530 0.17746480 -0.04256079
+v -0.00033530 0.20726026 0.01603544
+v -0.06485723 0.17827149 0.01603533
+v -0.06485723 0.16321637 -0.04256084
+v -0.00033530 0.20310072 -0.04256069
+v -0.00033530 0.20729913 0.00671307
+v -0.00524945 0.20729049 0.00671307
+v -0.00524945 0.20723435 0.01603544
+v -0.06485723 0.19828487 0.01603541
+v -0.06485723 0.19044889 -0.04256074
+v -0.00524945 0.20407593 -0.03984142
+v -0.00033530 0.20407162 -0.03983569
+v -0.00524945 0.20310505 -0.04256069
+v -0.00033530 0.20723011 -0.00283303
+v -0.00524945 0.20723011 -0.00283303
+v -0.01542516 0.20654402 -0.00283303
+v -0.01542516 0.20656557 0.00671307
+v -0.01519145 0.20653964 0.01603544
+v -0.06485723 0.19828057 0.01489952
+v -0.03479753 0.20368736 0.01603543
+v -0.03516388 0.20375644 0.00671306
+v -0.03527126 0.20375216 -0.00283304
+v -0.03520178 0.20373063 -0.01237341
+v -0.06485723 0.19107889 -0.04178053
+v -0.06327182 0.19140252 -0.04256074
+v -0.00524945 0.20600474 -0.03145988
+v -0.01542516 0.20231970 -0.04256070
+v -0.01542516 0.20367892 -0.03874569
+v -0.00033530 0.20506837 -0.03549290
+v -0.00033530 0.20708776 -0.01237340
+v -0.00524945 0.20709207 -0.01237340
+v -0.01542516 0.20644050 -0.01237340
+v -0.02560086 0.20533152 -0.01237341
+v -0.02560086 0.20539189 -0.00283304
+v -0.01542516 0.20652237 0.01603544
+v -0.02560086 0.20539186 0.00671306
+v -0.03957903 0.20249654 -0.02191380
+v -0.04595227 0.20098626 -0.02191380
+v -0.05613430 0.19819008 -0.02191381
+v -0.06485723 0.19511774 -0.02187366
+v -0.03448802 0.20359257 -0.02191379
+v -0.02560086 0.20531414 0.01603543
+v -0.06485723 0.19180814 -0.03983574
+v -0.06281072 0.19330114 -0.03797699
+v -0.06054314 0.19246403 -0.04256073
+v -0.01542516 0.20526255 -0.03145989
+v -0.01542516 0.20617731 -0.02191378
+v -0.00524945 0.20685046 -0.02191378
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+v -0.01672002 0.20217298 -0.04256070
+v -0.02366804 0.20322585 -0.03743768
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+v -0.04595227 0.19999815 -0.03145991
+v -0.03283313 0.20324740 -0.02965852
+v -0.05613430 0.19705957 -0.03145992
+v -0.06476880 0.19405194 -0.03145993
+v -0.06485723 0.19403037 -0.03136814
+v -0.06485723 0.19294729 -0.03608383
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+v -0.05777656 0.19340905 -0.04256073
+v -0.03045817 0.20278138 -0.03602069
+v -0.02647884 0.20386877 -0.03228600
+v -0.01925920 0.20187093 -0.04256070
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+v -0.03577657 0.19997227 -0.04100028
+v -0.03577657 0.19915674 -0.04256071
+v -0.04595227 0.19683523 -0.04256072
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+f 18 37 36
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+f 20 39 40
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+f 22 37 23
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+f 66 73 67
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+f 69 72 74
+f 69 74 71
+f 72 73 74
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_39.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2c81eba343a691ec9a5e23eb0c7809a19b56d4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_39.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.11306543 -0.13201762 -0.04250281
+v 0.11306543 -0.15143618 0.01603413
+v 0.11306543 -0.16461526 -0.04250293
+v 0.06977575 -0.16036300 -0.04250292
+v 0.06977575 -0.17626649 0.01603404
+v 0.11306543 -0.17107030 0.01603406
+v 0.11306543 -0.16549629 -0.04122491
+v 0.10597549 -0.17001824 -0.04250295
+v 0.06977575 -0.18878930 -0.04250302
+v 0.06977575 -0.19915496 0.01603396
+v 0.11306543 -0.16929913 -0.02191699
+v 0.09232113 -0.21523802 0.01603390
+v 0.11306543 -0.16831917 -0.03143055
+v 0.08884609 -0.22100061 0.01603388
+v 0.08618048 -0.22385043 0.01603387
+v 0.10252165 -0.17236462 -0.04250296
+v 0.07618338 -0.18624514 -0.04250301
+v 0.06977575 -0.18910397 -0.04199295
+v 0.06977575 -0.19882232 0.01193052
+v 0.07869643 -0.21650561 0.01603389
+v 0.06977575 -0.19173805 -0.03455405
+v 0.06977575 -0.18946356 -0.04140840
+v 0.08347672 -0.18302673 -0.04250300
+v 0.08712128 -0.18108490 -0.04250300
+v 0.09815665 -0.17494475 -0.04250297
+v 0.06977575 -0.19880435 0.01175859
+v 0.06977575 -0.19731195 0.00055438
+v 0.06977575 -0.19269999 -0.02909236
+v 0.06977575 -0.19188190 -0.03390644
+f 1 2 6
+f 1 6 11
+f 1 11 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 25
+f 1 25 24
+f 1 24 23
+f 1 23 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 20 15
+f 2 15 14
+f 2 14 12
+f 2 12 6
+f 3 7 8
+f 4 9 18
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+f 4 22 21
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+f 4 27 26
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+f 4 19 10
+f 4 10 5
+f 6 12 11
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 15
+f 9 15 18
+f 10 19 20
+f 11 12 13
+f 12 14 13
+f 15 20 21
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+f 15 17 23
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+f 15 24 25
+f 15 25 16
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_4.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e2b74aa563c9718beff7797b80d9d9e2736839
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_4.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.15619488 -0.09681066 0.03453208
+v -0.15621028 -0.09681066 0.03460106
+v -0.15681557 -0.09681063 0.02670022
+v -0.18097608 0.00051008 0.03535104
+v -0.16108855 -0.09681069 0.04438284
+v -0.18253549 0.00051006 0.04146752
+v -0.15933935 -0.09681059 0.01604466
+v -0.18276632 0.00051015 0.01604502
+v -0.18174039 0.00051012 0.02580840
+v -0.18134541 0.00051010 0.03073378
+v -0.16830591 -0.09681073 0.05413243
+v -0.18397691 0.00051005 0.04377615
+v -0.18552606 0.00051004 0.04624114
+v -0.19061977 0.00051001 0.05385686
+v -0.19405149 0.00050999 0.05863047
+v -0.17781624 -0.09681059 0.01604466
+v -0.19851938 0.00051015 0.01604502
+v -0.16897278 -0.09681073 0.05490964
+v -0.19914006 0.00050998 0.06205663
+v -0.17570797 -0.09681075 0.06108131
+v -0.18830117 -0.09681073 0.05448654
+v -0.19386168 -0.09156176 0.05860714
+v -0.17831894 -0.09582938 0.01604467
+v -0.20855806 0.00051001 0.05443171
+v -0.19853990 -0.00449116 0.01604500
+v -0.20859396 -0.00471993 0.05443169
+v -0.20777835 0.00050998 0.06205663
+v -0.19862711 -0.04521629 0.06302222
+v -0.17780084 -0.09681076 0.06182173
+v -0.18830117 -0.09681073 0.05491423
+v -0.18204817 -0.08740813 0.01604470
+v -0.17841640 -0.09561028 0.01604467
+v -0.19386168 -0.09156176 0.05961429
+v -0.20411580 -0.06166820 0.05849228
+v -0.18400769 -0.08234013 0.01604472
+v -0.19853990 -0.00471979 0.01604500
+v -0.20811691 -0.01484639 0.05443166
+v -0.20730642 -0.02497289 0.06203814
+v -0.20763985 -0.01484642 0.06205198
+v -0.20780913 -0.00471996 0.06205661
+v -0.19842706 -0.01460810 0.01604497
+v -0.19842192 -0.01484625 0.01604497
+v -0.19808337 -0.02497272 0.01604493
+v -0.20682937 -0.03508982 0.06193692
+v -0.19862711 -0.05533323 0.06276465
+v -0.18844994 -0.08570309 0.06258518
+v -0.18829606 -0.09681076 0.06139403
+v -0.19491839 -0.08570308 0.06058928
+v -0.20411580 -0.06166821 0.05977076
+v -0.20496731 -0.05533321 0.05733799
+v -0.19565192 -0.04522564 0.01604485
+v -0.19391812 -0.05155111 0.01604483
+v -0.19245617 -0.05641905 0.01604481
+v -0.19239975 -0.05660005 0.01604481
+v -0.19741652 -0.03508965 0.01604489
+v -0.20682937 -0.03508979 0.05521339
+v -0.20607017 -0.04521629 0.06158278
+v -0.19655987 -0.07557662 0.06161025
+v -0.18875772 -0.09528656 0.06144922
+v -0.20496731 -0.05533322 0.06068597
+v -0.20607017 -0.04521627 0.05603655
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 20
+f 1 20 29
+f 1 29 47
+f 1 47 30
+f 1 30 21
+f 1 21 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 8
+f 4 8 17
+f 4 17 24
+f 4 24 27
+f 4 27 19
+f 4 19 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 6
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 11
+f 7 16 23
+f 7 23 32
+f 7 32 31
+f 7 31 35
+f 7 35 54
+f 7 54 53
+f 7 53 52
+f 7 52 51
+f 7 51 55
+f 7 55 43
+f 7 43 42
+f 7 42 41
+f 7 41 36
+f 7 36 25
+f 7 25 17
+f 7 17 8
+f 11 15 18
+f 15 19 20
+f 15 20 18
+f 16 21 22
+f 16 22 23
+f 17 25 26
+f 17 26 24
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 21 30 33
+f 21 33 22
+f 22 31 32
+f 22 32 23
+f 22 33 49
+f 22 49 34
+f 22 34 35
+f 22 35 31
+f 24 26 27
+f 25 36 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 26 36 41
+f 26 41 42
+f 26 42 43
+f 26 43 37
+f 27 40 28
+f 28 40 39
+f 28 39 38
+f 28 38 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 30 47 33
+f 33 47 48
+f 33 48 49
+f 34 49 60
+f 34 60 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 37 44 38
+f 37 43 55
+f 37 55 56
+f 37 56 44
+f 44 57 45
+f 44 56 61
+f 44 61 57
+f 45 57 58
+f 45 58 46
+f 46 58 59
+f 46 59 47
+f 47 59 58
+f 47 58 48
+f 48 58 60
+f 48 60 49
+f 50 60 57
+f 50 57 61
+f 50 61 55
+f 50 55 51
+f 55 61 56
+f 57 60 58
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_40.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d42d02ec535b7697b7c1e48d33412e5cb5a6e4d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.06662703 -0.20953808 0.05382532
+v 0.07000224 -0.22951424 0.03725438
+v 0.06662703 -0.21020300 0.05479911
+v 0.06662703 -0.20953809 0.05783505
+v 0.06873121 -0.20953801 0.03476677
+v 0.07000224 -0.22951425 0.04166100
+v 0.07047963 -0.20953799 0.02863351
+v 0.07405249 -0.22951420 0.02722594
+v 0.07628742 -0.22951427 0.04531887
+v 0.08446698 -0.22951427 0.04630084
+v 0.08627317 -0.22951427 0.04641950
+v 0.09232118 -0.22951426 0.04371088
+v 0.09394492 -0.22951426 0.04278209
+v 0.09388107 -0.22743938 0.04261434
+v 0.09304486 -0.21731732 0.04156284
+v 0.09211137 -0.20985290 0.04067091
+v 0.09160356 -0.20953803 0.04085503
+v 0.07546338 -0.20953795 0.01867871
+v 0.07440217 -0.22743931 0.02580616
+v 0.07481875 -0.22951419 0.02580616
+v 0.09754514 -0.22951423 0.03534771
+v 0.09751474 -0.22743935 0.03534771
+v 0.09659035 -0.21731730 0.03534775
+v 0.09494532 -0.20953801 0.03590832
+v 0.09234246 -0.20953803 0.04020447
+v 0.07695942 -0.20953794 0.01604374
+v 0.07898150 -0.22951417 0.01903461
+v 0.09769110 -0.20953797 0.02580623
+v 0.09641704 -0.22951419 0.02563841
+v 0.09682753 -0.22743931 0.02580616
+v 0.09765765 -0.21731726 0.02580620
+v 0.09438583 -0.20953794 0.01604374
+v 0.07869567 -0.21651544 0.01604371
+v 0.08617586 -0.22384886 0.01604369
+v 0.08644345 -0.22951417 0.01772122
+v 0.09456219 -0.20953794 0.01617876
+v 0.09293540 -0.22951417 0.01971790
+v 0.09319691 -0.22743929 0.01946423
+v 0.09232118 -0.21524237 0.01604372
+v 0.08884563 -0.22100740 0.01604370
+v 0.08789692 -0.22951417 0.01805672
+f 1 2 3
+f 1 3 4
+f 1 4 17
+f 1 17 25
+f 1 25 24
+f 1 24 28
+f 1 28 36
+f 1 36 32
+f 1 32 26
+f 1 26 18
+f 1 18 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 20
+f 2 20 27
+f 2 27 35
+f 2 35 41
+f 2 41 37
+f 2 37 29
+f 2 29 21
+f 2 21 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 6
+f 3 6 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 6 9
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 17
+f 18 26 19
+f 19 26 27
+f 19 27 20
+f 21 28 22
+f 21 29 30
+f 21 30 31
+f 21 31 28
+f 22 28 23
+f 23 28 24
+f 26 32 39
+f 26 39 40
+f 26 40 34
+f 26 34 33
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 28 31 36
+f 29 37 38
+f 29 38 36
+f 29 36 30
+f 30 36 31
+f 32 36 37
+f 32 37 39
+f 34 40 41
+f 34 41 35
+f 36 38 37
+f 37 41 40
+f 37 40 39
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_41.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2100fad931da1d893d4de1e1f822f701c5c0c144
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_41.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.07104245 -0.19336934 -0.00975505
+v -0.07108719 -0.19336373 -0.00975505
+v -0.07104245 -0.19292659 -0.01994505
+v -0.07104245 -0.17536362 -0.00975498
+v -0.07370808 -0.19293221 -0.00975505
+v -0.07104245 -0.19283691 -0.02191876
+v -0.07104245 -0.15980115 -0.04259436
+v -0.08202183 -0.15210122 -0.04259433
+v -0.10056560 -0.14017587 -0.04259428
+v -0.10912915 -0.15294755 -0.00975490
+v -0.07737656 -0.19136870 -0.00975504
+v -0.07179181 -0.19216441 -0.02767915
+v -0.07104245 -0.19250625 -0.02689481
+v -0.07104245 -0.18838164 -0.04259446
+v -0.10912915 -0.13612417 -0.04259427
+v -0.10912915 -0.17253358 -0.00975497
+v -0.08667082 -0.18722172 -0.00975503
+v -0.07104245 -0.19144707 -0.03372242
+v -0.07104245 -0.19236615 -0.02819026
+v -0.07570636 -0.18991719 -0.03110260
+v -0.07104245 -0.18901491 -0.04131508
+v -0.07822658 -0.18546754 -0.04259445
+v -0.10912915 -0.16761314 -0.04259439
+v -0.10912915 -0.17227018 -0.01841808
+v -0.09718791 -0.18138794 -0.00975501
+v -0.09105884 -0.18490727 -0.00975502
+v -0.09226304 -0.18216684 -0.02842167
+v -0.08742018 -0.18423471 -0.03154618
+v -0.07104245 -0.19118367 -0.03470606
+v -0.09131236 -0.18163442 -0.03478639
+v -0.07649299 -0.18689658 -0.04100327
+v -0.08363239 -0.18295694 -0.04259444
+v -0.10808527 -0.16836969 -0.04259439
+v -0.10912915 -0.16810631 -0.04156253
+v -0.10912915 -0.17214128 -0.02191868
+v -0.09338893 -0.18367438 -0.00975501
+v -0.10583347 -0.17443332 -0.02191869
+v -0.10514376 -0.17390089 -0.03145935
+v -0.09613284 -0.17939844 -0.03154616
+v -0.08425871 -0.18328199 -0.04100325
+v -0.10368979 -0.17291457 -0.03907130
+v -0.09771357 -0.17543636 -0.04175220
+v -0.08934763 -0.18054723 -0.04100324
+v -0.09861951 -0.17456213 -0.04259441
+v -0.10583347 -0.16998364 -0.04259439
+v -0.10706003 -0.16950731 -0.04175218
+v -0.10912915 -0.17011817 -0.03504351
+v -0.10912915 -0.17144634 -0.02906131
+v -0.10912915 -0.17119416 -0.03145934
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 19
+f 1 19 18
+f 1 18 29
+f 1 29 21
+f 1 21 14
+f 1 14 7
+f 1 7 4
+f 1 4 10
+f 1 10 16
+f 1 16 25
+f 1 25 36
+f 1 36 26
+f 1 26 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 22
+f 7 22 32
+f 7 32 44
+f 7 44 45
+f 7 45 33
+f 7 33 23
+f 7 23 15
+f 7 15 9
+f 7 9 8
+f 9 15 10
+f 10 15 23
+f 10 23 34
+f 10 34 47
+f 10 47 49
+f 10 49 48
+f 10 48 35
+f 10 35 24
+f 10 24 16
+f 11 17 12
+f 12 18 19
+f 12 19 13
+f 12 17 20
+f 12 20 18
+f 14 21 22
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 20
+f 18 20 30
+f 18 30 29
+f 20 28 30
+f 21 31 22
+f 21 29 31
+f 22 31 32
+f 23 33 34
+f 24 35 25
+f 25 27 36
+f 25 35 37
+f 25 37 38
+f 25 38 27
+f 26 36 27
+f 27 38 39
+f 27 39 30
+f 27 30 28
+f 29 30 40
+f 29 40 31
+f 30 39 38
+f 30 38 41
+f 30 41 42
+f 30 42 43
+f 30 43 40
+f 31 40 32
+f 32 40 43
+f 32 43 44
+f 33 45 46
+f 33 46 34
+f 34 46 41
+f 34 41 47
+f 35 48 37
+f 37 48 38
+f 38 48 49
+f 38 49 41
+f 41 44 42
+f 41 49 47
+f 41 46 45
+f 41 45 44
+f 42 44 43
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_42.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f79679f4ed109bf07dfbacf192effe562b42f6d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_42.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.07104245 -0.19934718 0.01603969
+v -0.08082136 -0.21579859 0.01603963
+v -0.07104245 -0.19772265 0.00661157
+v -0.07104245 -0.17555802 0.01603978
+v -0.08398656 -0.22107818 0.01603961
+v -0.07104245 -0.19337225 -0.00975505
+v -0.07104245 -0.17537206 -0.00975498
+v -0.10912915 -0.15294582 -0.00975490
+v -0.10912915 -0.15397156 0.01603985
+v -0.08667082 -0.22326023 0.01603960
+v -0.07108719 -0.19336537 -0.00975505
+v -0.10912915 -0.17254296 -0.00975497
+v -0.10912915 -0.17403677 0.01603978
+v -0.09718791 -0.18139507 -0.00975501
+v -0.09338893 -0.18368038 -0.00975501
+v -0.09105884 -0.18491250 -0.00975502
+v -0.08667082 -0.18723222 -0.00975503
+v -0.07737656 -0.19136229 -0.00975504
+v -0.07370808 -0.19293170 -0.00975505
+v -0.09072704 -0.21731294 0.01603962
+v -0.09529028 -0.20965168 0.01603965
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 21
+f 1 21 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 11 19
+f 6 19 18
+f 6 18 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 6 14 12
+f 6 12 8
+f 6 8 7
+f 6 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 20 12
+f 10 12 14
+f 12 20 21
+f 12 21 13
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_43.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb439fe3184be92ab8655fc763deb55386540aff
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_43.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.11208662 0.15097510 -0.00957297
+v 0.11208662 0.15198809 0.01604098
+v 0.07320229 0.17472888 0.01604106
+v 0.07320229 0.17457548 -0.00957288
+v 0.11208662 0.17030054 -0.00957289
+v 0.11208662 0.17155912 0.01604105
+v 0.07320229 0.20040915 0.01604116
+v 0.07320229 0.19346345 -0.00957281
+v 0.11050307 0.17150551 -0.00957289
+v 0.08636168 0.22938197 0.01604126
+v 0.08733997 0.22812329 0.01604126
+v 0.09445068 0.21822264 0.01604122
+v 0.07851248 0.21922039 0.01604123
+v 0.07320229 0.19906608 0.00623284
+v 0.07320229 0.19371672 -0.00890338
+v 0.08187370 0.22498424 0.01604125
+v 0.08576785 0.22904427 0.01604126
+v 0.07650641 0.19207429 -0.00957281
+v 0.09654811 0.18204317 -0.00957285
+v 0.09286334 0.18435333 -0.00957284
+v 0.09031672 0.18569644 -0.00957284
+v 0.08636168 0.18773028 -0.00957283
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 10
+f 2 10 17
+f 2 17 16
+f 2 16 13
+f 2 13 7
+f 2 7 3
+f 3 7 14
+f 3 14 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 8 15 13
+f 8 13 16
+f 8 16 17
+f 8 17 10
+f 8 10 18
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 13 15 14
+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_5.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55bc4e8e5afe9c9aad0210be3e28cf76489a731d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.10436262 -0.19359213 0.06070916
+v -0.10436262 -0.19359212 0.05713523
+v -0.10436262 -0.18740534 0.06253318
+v -0.10757537 -0.18760430 0.06219060
+v -0.10454339 -0.19352581 0.06069527
+v -0.10454339 -0.19352580 0.05718153
+v -0.10436262 -0.17789283 0.01604440
+v -0.10436262 -0.17679397 0.06180639
+v -0.10640037 -0.17611180 0.06207490
+v -0.11720539 -0.17681291 0.06333411
+v -0.12679433 -0.17656658 0.06131567
+v -0.11720539 -0.18438299 0.06100547
+v -0.12301463 -0.18241231 0.05977868
+v -0.12301463 -0.18241230 0.05834818
+v -0.12366375 -0.16277162 0.01604445
+v -0.10436262 -0.15715328 0.01604447
+v -0.10436262 -0.17164935 0.05915374
+v -0.17570038 -0.09681076 0.06107986
+v -0.17779565 -0.09681077 0.06182057
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_6.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90686091288291001357c85a030e139c08d39a2b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_7.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d8aef224941d410c79dd185aa39eab79409c30
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_8.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf80e6d7ef390f81d1539c7d987646dcbd97982a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_9.obj b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_9.obj
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--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mjcf/mesh/soup_pot_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/video.mp4 b/dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/video.mp4
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