diff --git a/.gitattributes b/.gitattributes
index 975ecddb2301afe2996ecca2072a16a9615f5b09..275182a82780b955d9d20087a48845775e8399eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4810,5 +4810,6 @@ dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.urdf b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..56f833e5de0090db3ea6fc86e441aab92ce90c44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ceramic_teapot">
+   <link name="ceramic_teapot">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/ceramic_teapot.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/ceramic_teapot_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.258686</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>matte black teapot with gold rim and curved spout</description>
+         <min_height>0.180</min_height>
+         <max_height>0.225</max_height>
+         <real_height>0.203</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119164957</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.996315956115723</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.usd b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bb7872bcd2f2a20b78e11d77fedb98ccac142ac7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/cd4c6b222eb45f8b9a0534490c58d29d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13c5921b4cc0071e9be530795fc26282d1a7faf818b01adbd4d2fd2212ba281
+size 332635
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..882e61acfff7f3b0c54861acf153ea2d0d6e753a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05c6db37d59dd901fd7edaa4ebabbc06d8f037d4821cf8224206bf7a2e2e7982
+size 1422740
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdaf4f769697e672b3f473cbb9abd6fcca24db09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot.obj
@@ -0,0 +1,20984 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8edc8e3534d7e26acfa48f4b1ff3d1a8f64e50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,24464 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d7648b55b6ff9d2d748c000864457e16f2b8b10c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/ceramic_teapot_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 3451753
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/material.mtl b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/material.mtl
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index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/material_0.png b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:10aee58a3fcebfe0bb8209aa10fac1055c9311ea40f0998201f5cb146c4bb180
+size 1193026
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/cd4c6b222eb45f8b9a0534490c58d29d.xml b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/cd4c6b222eb45f8b9a0534490c58d29d.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_14" file="mesh/ceramic_teapot_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b3d9ee9d2de9355ba467cbe92442f7328fee2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,20984 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82867dd939d8f9fdf1f6d4cbf021090620df8650
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,24464 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ffec503cab52ca63a0515fd9a8cbe9a92d24827
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280248ff53498d90629aa7b4669bcbc0231ec97e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c54a91b5f74006c3e75a6d9068dcd9a5b1c30fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v 0.00147935 -0.07960549 0.04086638
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..648d17eaead884adfb15e424a05bdef0a7c403e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76adedd6adbca2dfa6d0b990a5a67c1c4fa9e45e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95fdf9be310cdd80654dd30f625c8009b9997abd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_13.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e73b169d94858b907cf95036a1713bf07610f27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961d1cf6622dfff89663fb56aadfbc525f2a6216
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c226eb84651dd620fb706f7d4935af30e39998cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b43602a927ddaa0c8eefe66ed8543d4f5f955d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8506a03c61d6f1d62f2ba8993429ffdf025175
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64221d72bb889a0e13e52f4c8ca1f0bcc1811edb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8331828d3d65bece5e13e2061d2d650ec93711e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,2893 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db05f3297474b27e498fa2c6e509d499d040bf5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,12292 @@
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/ceramic_teapot_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/video.mp4 b/dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/video.mp4
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