diff --git a/.gitattributes b/.gitattributes
index 7d5db192de7eb9a1f5f585b3c87d9152fd58b5ad..5991d5b3028d53f48ab057730b9e769011459cac 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3849,4 +3849,6 @@ dataset/home_appliances/electrical_appliances/8b0d79295481587a9390c78f9c76eed9/8
 dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/d046cdd0878f52e592a1d4ed2308efb9/d046cdd0878f52e592a1d4ed2308efb9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/f97716c183685107b3072f4650ec290e/f97716c183685107b3072f4650ec290e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.urdf b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..29cbd8c10c9e28711ae30b1d38c1c336a5aeb375
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.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>0.685580</scale>
+         <version>v0.1.7</version>
+         <category>soup pot</category>
+         <description>black cylindrical pot with handles and a flat lid</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.0</max_mass>
+         <generate_time>20260120013804</generate_time>
+         <gs_model>mesh/soup_pot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.466668128967285</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/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.usd b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..305fa4c323cf1008581b1abbcecf3d604d513ef2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/19ca115cb51359c9adcc0e4f0a6ce92c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00cc4a1bc5d0926a6b01505d07d91d1d7fbbabd746717b75512d8a2d835ffaa4
+size 416010
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/material.mtl b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/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/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/material_0.png b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f372a6142fb8a6ee0087379d3ef1f91a7ec9263
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf1e4529c641e270af185def87db85b68f3bbe7e3cb2461135150985ead9593
+size 788650
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.glb b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..499114bcb74ebffa8595670a48212fbb3a85e461
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e90909e6a98025f6bb86b7aec23017802d7cdf6ac6f7180ced2a0a84811e073
+size 1077152
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14f8100903bcb3ce702341921ce51f4714744ae6
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot.obj
@@ -0,0 +1,26394 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_collision.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..819c0b06a248118a47c03b0b8cd34c06c654cb6d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_collision.obj
@@ -0,0 +1,15711 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_gs.ply b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1643fe71c64cbb1cc7f9f462e35bb2a0f3c51d28
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mesh/soup_pot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d269b0100df4a62ff7ae331d15e82487476d01039cc19a7618359515a52893
+size 1667369
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/19ca115cb51359c9adcc0e4f0a6ce92c.xml b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/19ca115cb51359c9adcc0e4f0a6ce92c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..011d12166e52527f2fc31eb65c213b04ed6da1b9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/19ca115cb51359c9adcc0e4f0a6ce92c.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soup_pot">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soup_pot.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soup_pot_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soup_pot_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soup_pot_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soup_pot_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soup_pot_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soup_pot_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soup_pot_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soup_pot_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soup_pot_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soup_pot_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soup_pot_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soup_pot_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soup_pot_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soup_pot_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soup_pot_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soup_pot_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soup_pot_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soup_pot_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soup_pot_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/soup_pot_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/soup_pot_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/soup_pot_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/soup_pot_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/soup_pot_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/soup_pot_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/soup_pot_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/soup_pot_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/soup_pot_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_36" file="mesh/soup_pot_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soup_pot">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f372a6142fb8a6ee0087379d3ef1f91a7ec9263
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf1e4529c641e270af185def87db85b68f3bbe7e3cb2461135150985ead9593
+size 788650
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fab9b31ed812c1f207a2b6839a8e457ca45f70
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot.obj
@@ -0,0 +1,26394 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f307fb0388e82322e25f66f04d5b6c4ef098f8b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision.obj
@@ -0,0 +1,15711 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_0.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..901aab971b2792a2e5b64944eb5296f3e107fbda
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_1.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c88af01bf8ec98e3e96e8c25c35d77af13355bd9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_10.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f10923dc4eac5f44a843c176cd256924ed187e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_10.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.20789890 -0.00512696 0.01780261
+v -0.22518564 -0.00561496 0.01780261
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+v -0.22517384 -0.00588018 0.01780261
+v -0.23389987 -0.00561528 0.10510784
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+
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_11.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21e623b4474684ee3f2132f7cdf67fcc5695d47
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_11.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_12.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915377902703a571b8a8e1a8b9809a00c7b10d7b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_12.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v -0.00058821 0.29479372 0.09458281
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+v -0.00058821 0.32912088 0.07714381
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_13.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e058a83eb3572f643d93b7d894be8ddf67656ede
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_13.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_14.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5917ec242cce53cdf8bd9b8d656774449d1d8cd9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_14.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_15.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b916e079e753d74ddc3fa16ef3775e78a7b9994b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_15.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_16.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..648e167c25b7c17db9207843e1683f579c3b54e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_16.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_17.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203d0d0e3c73ca541853c1788f77fd972e3aa7da
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_17.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_18.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51afb2ef0880a5e5c1e131eaee4069fc8c3f5c73
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_18.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_19.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b6d7d6bccbd8a37c1d25b41d1dc01df77c7ab81
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_19.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_2.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e935f81368b41545436fc62cd7364ede1cb92e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_20.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7625f83c5afb17db9957c670f17befd1c7ee70a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_20.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_21.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0ef11098993a819c0ae62fb2d773922ba9dc8d9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_21.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_22.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765611acf3d02babfe8835c628e5c843945a59ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_22.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_23.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50516622baf6f496bdc74ccbbe51b95bb03dd7d8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_23.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_24.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164adc27e91f204de4b388f8126511e6f51ba53e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_24.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_25.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2dae4e5478036137847d048da6ea8f3e2d65ee
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_25.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_26.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84cc7483cd102ff5051e2af5dd3d021b5c522e1f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_26.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_27.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e98ce19b50c7d2de7aa0f090eada56e2c66345b0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_27.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_28.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c06869b8d6ca6616f0d47e24b8ccd3cc45620d0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_28.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_29.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c457d33d0d226ae7ded24e5cf57f70315a1562
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_29.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_3.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fda02e2ebb85d4208dd6cb2e05e42391fba07b4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_30.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db06daeca1990ab9421bc46a67eca3eb257a4a07
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_30.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_31.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896118d7d8be585e033b1bb6547beb1e35daf1ab
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_31.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_32.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6505f92580be5d87cb59fa0ed469872eb276ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_32.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_33.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e12f9b8a46e9021fda74d2f596cc8e14cf18bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_33.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_34.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fff912f323a4debcaa1a9d8dde2466a74d74d13
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_34.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_35.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f0081579c84f62481bd30da34366616330986c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_35.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.22473954 0.00010808 -0.08030792
+v 0.22471226 0.00010809 -0.08098389
+v 0.22468503 0.00569318 -0.08098387
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+
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_36.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e41e40b444e2f203054380f56b6c36516791ab
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_36.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00012997 -0.19456628 -0.09393150
+v 0.07884688 -0.17688122 -0.09393144
+v 0.00012997 -0.22052042 -0.09393160
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_4.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c22a01a8e5906d1670a0faf19c6717dc4a21293
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_4.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_5.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40857e88f000475e77f870478abc3858294c3b52
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_5.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_6.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b897eccc9215ec5ec38d8a0e931e6a0a1df2b0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_6.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_7.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b3368d83b17ba754c699de3108613c216a73e26
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_7.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_8.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd6ce0753f2e985eab1c08bb775c11367634d46
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_9.obj b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/mjcf/mesh/soup_pot_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/video.mp4 b/dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/video.mp4
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