diff --git a/.gitattributes b/.gitattributes
index 3ce86f15824470052e4790fcd2d3f158e6da3a42..866c8be86162eb07299e43536d321bbe08632185 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3858,3 +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/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.urdf b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f08c39cd2580af5e478ae63690d390bc659af94
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.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="2.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.508860</scale>
+         <version>v0.1.7</version>
+         <category>soup pot</category>
+         <description>round metallic soup pot with handles on both sides</description>
+         <min_height>0.2</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.25</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.0</max_mass>
+         <generate_time>20260120013454</generate_time>
+         <gs_model>mesh/soup_pot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.0432610511779785</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.usd b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.usd
new file mode 100644
index 0000000000000000000000000000000000000000..28ccd9a62bb2e585217e166c25b87e8bfaff9ca4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd15747e148bb4c983cdb5084a06ed989dad96aafb85dd5f22593ba20ba8b5db
+size 686041
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/material.mtl b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/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/d4fc3a3574865a8ca499337875006608/mesh/material_0.png b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..51f88aa80d38674a066afa3dd505de0032ff2244
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b847ae60b65eabc52b085607394e18cb9c32497b601586a644bb1615d22839a
+size 1683345
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.glb b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a55291ce41d1d09bcab075db9f43f999e66df9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45778ff126a2df4cbb8ca4c606b4fc268f67a4f4594fb91efabee66b4ea830cb
+size 2150180
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2608ac571b5df9cb14e051746e2238165c01b747
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.obj
@@ -0,0 +1,42652 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot_collision.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b02643cf1e128c2b276e096bc35b6da25bacd23
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot_collision.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot.obj
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+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac30b6b81f3080782fd7123628d4a88c0a34b22
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision.obj
@@ -0,0 +1,19770 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_0.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c80b16ba5e00c9c9fe11122e1b33837eb86aa71
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_1.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42be35ef15dfedadaabdba9b01ff10b6fa134d0c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_1.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_10.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e46efbc09c5e88daa384980ba85a2db4002dd8d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_10.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_11.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7437039094f198d8979357f6f3f105b468070c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_11.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_12.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d214a904aef0e2e44458fea2ba423b32a9cb67
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_12.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_13.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7847e1abec364e1def357097b91292b2f776b9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_14.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a9c0f9b6421f53774d90c171606794cd964a18
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_14.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_15.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e8c16cd92aebe3693c456abad90c1df124cd42
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_15.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_16.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cad7169d4739f5632147eefd7a5c275f43c1cda
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_16.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_17.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50c0278b2c62fd04861f81e57c5d1cd35b75a54
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_17.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_18.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac4270643cd3737f3d6206846ed970f80955165
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_18.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_19.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c677c3dc9c42a8aca4afed789a36df767a976565
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_19.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_2.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47219ae55169e85b17b76701de3dd46d2adb973
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_20.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6687cd654404caa26c4532284ef235ae7f77786
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_20.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_21.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a33e836e5a78566095605a32636391739224f45
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_21.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_22.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0708913a404f18b8e7cb0703a273a9798cf19e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_22.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_23.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a27e594dfdb52df0e64d13adf86f3447a2cee52
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_23.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_24.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5643faabbc3bc3ff77fd476d191c08b632ff68b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_24.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_25.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a261058d930a3f981abd36a10ddb259ec4fb43d3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_25.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_26.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84da5174190edaaa9311d2232f0306e49eab8af4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_26.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_27.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de6dfaff818fe87512e32621ac5d6a4cb671ed2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_27.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_28.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13be603f60154db8b0138dec5dca83c269f79c88
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_28.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_29.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2766b322de1c8243d8dd377930f4328c41d474fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_29.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_3.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08cd48baa1690cd4c652827d80c098b73a7af38
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_30.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c450ab32284ab528e87c50c87d5b4ce48786e63
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_30.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_31.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653c210166e3d4678fa96342d68974b346a72fec
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_31.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_32.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee4d7c2ef73a99beb1c88589f8f39b15017d0b1
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_32.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_33.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6429454b847ed92d2aac4f226bc23c784a78e098
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_33.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_34.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ec1c9480bc4b0f8713ef8e83baf9753ef438a7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_34.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_35.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48646ab4573205f98fd50dd203723c53e0e2aec
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_35.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_36.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e6a3c0ef24ad2e80bfd1222a6c931d90625a4f9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_36.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_37.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b697ec03d0788656461d814f6672b928787f8d42
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_37.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_38.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004fe44fff06ffde536b72e8421e4db491a830f7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_38.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_39.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a57a932cef8875f236f323940c6b6101516e06
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_39.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_4.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a54694c53549a375578338ff7c52b13d4010ff
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_4.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_40.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6735fc3d40236a8c5aaccb56338bb7f710484fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_40.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_41.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476ea97024f16792ffc0e6fc75d4a6b121b6a4a3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_41.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_42.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e8acc72c0b5efadbaad9bb4ccdbd36871f02440
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_42.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_43.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245f75390b599e8253af54a66845323c7d8608fe
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_43.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+v 0.07703692 -0.15950372 -0.10789965
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+v 0.06762329 -0.16742681 -0.10185348
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+f 30 37 31
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+f 35 39 38
+f 35 38 37
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_44.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab7131f3c0c571f7f5360a2c876a9543b4b845f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_44.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.06755605 -0.17017319 0.08444294
+v 0.06755605 -0.17026298 0.08569279
+v 0.06755605 -0.18426789 0.08444289
+v -0.00212503 -0.18161705 0.08444290
+v 0.06755605 -0.17058269 0.08969163
+v -0.00212503 -0.18172482 0.08584817
+v 0.06755605 -0.20123982 0.11392422
+v 0.05908381 -0.20131156 0.08828626
+v 0.06003199 -0.19683962 0.08444285
+v -0.00212503 -0.19409179 0.08444286
+v 0.06755605 -0.17095268 0.09409846
+v -0.00212503 -0.18235343 0.09132999
+v 0.05629384 -0.20686832 0.10239068
+v 0.06755605 -0.20123982 0.11485351
+v 0.05379037 -0.20686829 0.09512476
+v 0.04691435 -0.20686828 0.09310753
+v 0.04585021 -0.20686828 0.09280640
+v 0.05447252 -0.19953714 0.08444284
+v -0.00212503 -0.20507239 0.11059561
+v 0.03103402 -0.20191141 0.08444283
+v 0.03250064 -0.20686829 0.09521218
+v 0.06755605 -0.17250442 0.10230339
+v -0.00212503 -0.18267311 0.09409842
+v -0.00212503 -0.18330171 0.09776376
+v -0.00212503 -0.18362499 0.09963205
+v 0.05506598 -0.20686835 0.11158641
+v 0.06755605 -0.20122546 0.11516435
+v 0.03810104 -0.20686828 0.09303952
+v 0.03557029 -0.20164201 0.08444283
+v -0.00212503 -0.20488561 0.11255780
+v 0.03183895 -0.20686829 0.09595043
+v 0.03138874 -0.20686829 0.09646526
+v 0.02965609 -0.20686832 0.10287961
+v 0.02955377 -0.20686832 0.10446943
+v 0.02923316 -0.20686835 0.11060208
+v 0.03829205 -0.20686837 0.11613247
+v 0.03737797 -0.20686828 0.09316581
+v 0.06755605 -0.17367539 0.10543122
+v -0.00212503 -0.18447629 0.10237133
+v -0.00212503 -0.18492168 0.10375393
+v 0.05135512 -0.20686836 0.11543632
+v 0.06755605 -0.19907031 0.11621993
+v 0.06279468 -0.20203723 0.11590908
+v -0.00212503 -0.20449052 0.11646275
+v 0.04614353 -0.20686837 0.11623609
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+v -0.00212503 -0.18912786 0.11028160
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+v -0.00212503 -0.19291016 0.11440670
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+v 0.06755605 -0.19191879 0.11717190
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+v 0.06755605 -0.18538868 0.11552382
+v 0.06755605 -0.18372203 0.11486977
+v 0.06755605 -0.17937579 0.11159298
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+f 1 20 10
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+f 1 4 2
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+f 44 51 50
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+f 50 59 60
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+f 51 56 57
+f 52 55 61
+f 55 60 62
+f 55 62 61
+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_45.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b49d2b6035db12d978c3cada3439e303dd63e89
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_45.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04816450 -0.17378314 -0.10185351
+v 0.04707645 -0.17424516 -0.10185351
+v 0.04816450 -0.17296933 -0.10368642
+v 0.04816450 -0.15831576 -0.10185345
+v 0.04436864 -0.17508522 -0.10185351
+v 0.04816450 -0.17003441 -0.10789968
+v 0.04600318 -0.17365188 -0.10361599
+v 0.03738249 -0.17449716 -0.10616266
+v 0.04816450 -0.15497131 -0.10186409
+v 0.04637242 -0.15552260 -0.10185344
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+v 0.04590471 -0.17070119 -0.10789969
+v 0.04816450 -0.13076739 -0.10789954
+v 0.03738249 -0.17672856 -0.10203876
+v 0.03107083 -0.17519545 -0.10737416
+v 0.04597856 -0.15549635 -0.10185344
+v -0.00213185 -0.12731795 -0.10789953
+v -0.00213185 -0.16272076 -0.10185347
+v 0.03818499 -0.17663405 -0.10185352
+v 0.03738249 -0.17296931 -0.10789970
+v 0.03738249 -0.17679681 -0.10185352
+v 0.02862396 -0.17826690 -0.10185352
+v 0.02851072 -0.17723783 -0.10433035
+v 0.02733405 -0.17554197 -0.10789970
+v 0.03068682 -0.17471241 -0.10789970
+v 0.02564044 -0.17582548 -0.10789971
+v -0.00213185 -0.17760009 -0.10789971
+v -0.00213185 -0.18095505 -0.10185353
+v 0.02252892 -0.17920146 -0.10185353
+v 0.02044145 -0.17866591 -0.10388767
+v 0.02044145 -0.17642401 -0.10789971
+v 0.00350040 -0.17760533 -0.10789971
+v -0.00213185 -0.18006249 -0.10388767
+v 0.00350040 -0.18005725 -0.10388767
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+v 0.02044145 -0.17951647 -0.10185353
+v 0.01406086 -0.18019901 -0.10185353
+v 0.01197338 -0.17956896 -0.10388767
+v 0.01197338 -0.17718005 -0.10789971
+v 0.01214078 -0.18039327 -0.10185353
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+f 30 38 31
+f 31 38 39
+f 32 39 34
+f 32 34 33
+f 34 39 38
+f 34 38 35
+f 35 38 40
+f 37 40 38
+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_46.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..719c546a7f5d81c81d3686295043bcd2dae8b473
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_46.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03186835 0.21767060 0.10968945
+v 0.03381561 0.21767058 0.11376026
+v 0.03206108 0.21767062 0.10271455
+v -0.00327538 0.20609043 0.11151874
+v -0.00327538 0.20609041 0.11686087
+v 0.03649392 0.21767057 0.11571640
+v 0.03430076 0.21767063 0.10018457
+v -0.00327538 0.19628895 0.08596204
+v 0.03798262 0.21767057 0.11679750
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+v 0.04585141 0.21767057 0.11749816
+v 0.03554356 0.21767064 0.09897664
+v -0.00327538 0.18374877 0.08596199
+v 0.03860734 0.21767064 0.09734705
+v 0.02941600 0.20236189 0.08596206
+v -0.00327538 0.19919888 0.11750444
+v 0.06279191 0.19919888 0.11835094
+v 0.06461955 0.19932317 0.11808462
+v 0.06461955 0.20521611 0.11637579
+v 0.05110835 0.21767058 0.11551983
+v -0.00327538 0.18383879 0.08750598
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+v 0.04401713 0.21767064 0.09715683
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+v -0.00327538 0.19404311 0.11536122
+v 0.06461955 0.19039590 0.11647720
+v 0.06461955 0.20521613 0.11266959
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+v 0.05215841 0.21767059 0.11156950
+v -0.00327538 0.18423733 0.09410043
+v 0.06461955 0.17437148 0.09410039
+v 0.06461955 0.19130888 0.08596202
+v 0.04869587 0.21767064 0.09935075
+v 0.05891068 0.20366475 0.08891372
+v 0.06024652 0.19964472 0.08596205
+v -0.00327538 0.18983448 0.11127138
+v 0.06461955 0.17744005 0.10730198
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+v 0.06200769 0.19631895 0.08596204
+v 0.06028639 0.19957615 0.08596205
+v 0.05149381 0.21767062 0.10305062
+v 0.05165332 0.21767062 0.10408417
+v -0.00327538 0.18441733 0.09575538
+v 0.06461955 0.17464148 0.09587265
+v -0.00327538 0.18514588 0.10234666
+v -0.00327538 0.18617017 0.10714666
+v 0.06461955 0.17571718 0.10268270
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+f 1 20 30
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+f 1 47 46
+f 1 46 34
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+f 1 3 4
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+f 34 46 35
+f 35 45 36
+f 37 51 38
+f 38 51 52
+f 49 52 50
+f 50 52 51
+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_47.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..272e27aed45af75eaf3ff7c8cd53a53561874a2e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_47.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00327538 0.25734215 0.11059745
+v -0.00327538 0.25689171 0.10953610
+v -0.00327538 0.25644899 0.11714670
+v 0.00349933 0.25729167 0.11059745
+v 0.00349933 0.25504715 0.10530653
+v -0.00327538 0.25505881 0.10530916
+v -0.00327538 0.25622762 0.11876760
+v 0.00349933 0.25618880 0.11867828
+v 0.01197045 0.25596357 0.11828947
+v 0.01197045 0.25693052 0.11059744
+v 0.01197045 0.25491513 0.10540636
+v 0.01197045 0.24973484 0.10274775
+v 0.00349933 0.24973484 0.10271623
+v -0.00327538 0.25399480 0.10478899
+v -0.00327538 0.25429763 0.12206455
+v 0.00349933 0.25359863 0.12280276
+v 0.01197045 0.25289964 0.12241658
+v 0.02044156 0.25547817 0.11750136
+v 0.02044156 0.25608398 0.11059744
+v 0.02548726 0.25418507 0.10618133
+v 0.02044156 0.25455399 0.10576890
+v 0.02044156 0.24973484 0.10304986
+v 0.02890724 0.24131203 0.10129496
+v -0.00327538 0.24973484 0.10277403
+v 0.04460979 0.21767064 0.09715461
+v 0.04401714 0.21767064 0.09715461
+v -0.00327538 0.25377726 0.12289208
+v 0.00349933 0.24938914 0.12396916
+v 0.01197045 0.24868629 0.12386407
+v 0.02044156 0.24768828 0.12367493
+v 0.02890724 0.24635244 0.12328349
+v 0.02044156 0.25190164 0.12162584
+v 0.02710754 0.25475199 0.11622198
+v 0.02710754 0.25473258 0.11059744
+v 0.03134309 0.25325307 0.11059743
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_48.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5eb9485efc2058c0d557e4d02b365865f98d2f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_48.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_49.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f58adbba053f03733d1a5a614c53672c13a127
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_49.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+v -0.06551568 -0.17167859 0.09421196
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_5.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4806ee1ec2359224fe560ccd5d1ec681162d67b7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_5.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+v -0.14156390 -0.11241070 -0.10566701
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_50.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4560c219821101b5bd62d0dba155b204851555
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_50.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_51.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d83b8188bb2ff7f0bbd3cf9fb6199a2b705079
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_51.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_52.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df238ee57362e83020634eb4657643c98070205c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_52.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.05368874 -0.21321629 0.10187833
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_53.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b985dfc0bf7d10bee93651dca46fc4ef4f8dfc85
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_53.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.07210792 0.19077895 0.12024955
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_54.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26053e45110ef062b27f763b60676ff3b70f6ab0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_54.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_6.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28a59a94c036eaef0b5e3a2e040f2b75b7ef130
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00327538 0.19040844 -0.09082056
+v -0.00327538 0.18915653 -0.09563832
+v -0.00327538 0.17605050 -0.09082061
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diff --git a/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_7.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc62d14779e1788261730a4a503b5d33267141b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/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/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_8.obj b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53dc5530c1c791100fc6c6252542efe709169ad9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mjcf/mesh/soup_pot_collision_8.obj
@@ -0,0 +1,241 @@
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