diff --git a/.gitattributes b/.gitattributes
index 439352abe96bb501d07aa77140a97c5da7a9dee7..d13a5b0d2044fd9dabcb4c3a08cd9fb0f309b261 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4751,7 +4751,6 @@ dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/baby_bottle_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.urdf b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..925157cbe436b13323fd4486f32e6880748e55c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.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>0.337402</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>brown ceramic teapot with spout and handle</description>
+         <min_height>0.135</min_height>
+         <max_height>0.180</max_height>
+         <real_height>0.158</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119163351</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.699373245239258</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Handle, lid knob, and front spout opening are mislabeled as shared colors across different parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.usd b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/7e7a813a9e815d93a05c70051901794d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c30f7fff502a8fc88613d009ec0a3fc6acfabe7a661911e7b4a29e3e8f4780d1
+size 563547
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1b32a183c9920622a8bc9dded2c032fca34d8b1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:660dd4f1398b089b1f489955c7fce7cfdc6590747f0f962a927365306d1033f7
+size 1688788
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4a3ea8756ca828b74d7845db4a2639cae3245d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot.obj
@@ -0,0 +1,34610 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94cfe3b1ed3e1f35da58078252d9f9f7ab443c00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,24402 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/ceramic_teapot_gs.ply
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/material.mtl b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/material.mtl
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/material_0.png b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/7e7a813a9e815d93a05c70051901794d.xml b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/7e7a813a9e815d93a05c70051901794d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b3e87a873f7d8aa042d37f7d812d9362c6c3f695
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/7e7a813a9e815d93a05c70051901794d.xml
@@ -0,0 +1,136 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ceramic_teapot">
+  <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/ceramic_teapot.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ceramic_teapot_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ceramic_teapot_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/ceramic_teapot_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/ceramic_teapot_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/ceramic_teapot_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/ceramic_teapot_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/ceramic_teapot_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/ceramic_teapot_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/ceramic_teapot_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/ceramic_teapot_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/ceramic_teapot_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/ceramic_teapot_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/ceramic_teapot_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/ceramic_teapot_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/ceramic_teapot_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/ceramic_teapot_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/ceramic_teapot_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/ceramic_teapot_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/ceramic_teapot_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/ceramic_teapot_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/ceramic_teapot_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/ceramic_teapot_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/ceramic_teapot_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/ceramic_teapot_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/ceramic_teapot_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/ceramic_teapot_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/ceramic_teapot_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/ceramic_teapot_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/ceramic_teapot_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/ceramic_teapot_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/ceramic_teapot_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/ceramic_teapot_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/ceramic_teapot_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/ceramic_teapot_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/ceramic_teapot_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/ceramic_teapot_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/ceramic_teapot_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/ceramic_teapot_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/ceramic_teapot_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/ceramic_teapot_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/ceramic_teapot_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/ceramic_teapot_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/ceramic_teapot_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/ceramic_teapot_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/ceramic_teapot_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/ceramic_teapot_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/ceramic_teapot_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/ceramic_teapot_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/ceramic_teapot_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/ceramic_teapot_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/ceramic_teapot_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/ceramic_teapot_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/ceramic_teapot_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/ceramic_teapot_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/ceramic_teapot_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/ceramic_teapot_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/ceramic_teapot_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/ceramic_teapot_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/ceramic_teapot_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/ceramic_teapot_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/ceramic_teapot_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ceramic_teapot">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" 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/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9f4d204a2af30d09360441e5da148b4a313d04
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,34610 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.026284 -0.016842 -0.072004
+v 0.041563 -0.000046 -0.071953
+v 0.048370 -0.012545 -0.071911
+v 0.005447 0.003600 -0.072038
+v -0.001400 -0.023733 -0.071999
+v 0.011950 -0.035680 -0.071989
+v 0.023350 -0.031151 -0.072016
+v 0.035236 -0.030860 -0.071986
+v 0.046666 -0.021975 -0.071944
+v 0.025109 -0.054828 -0.071935
+v 0.044680 -0.043082 -0.071917
+v 0.040042 -0.051887 -0.071853
+v 0.000682 -0.054395 -0.071945
+v -0.011585 -0.034979 -0.071959
+v -0.024444 -0.039667 -0.071947
+v -0.009705 -0.055234 -0.071859
+v 0.006466 -0.061656 -0.071811
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+v 0.035264 -0.059568 -0.071689
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+v -0.024004 -0.049536 -0.071806
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+v 0.042224 0.029041 -0.072023
+v 0.021208 0.013537 -0.072019
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+v 0.052055 0.002783 -0.071913
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+v 0.002018 0.053546 -0.071852
+v 0.013943 0.027875 -0.072037
+v 0.024362 0.023262 -0.072064
+v -0.049110 0.026840 -0.071371
+v 0.068069 -0.021017 -0.071730
+v 0.069616 -0.005481 -0.071804
+v 0.071971 0.009708 -0.071672
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+v 0.003636 0.062050 -0.071563
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186f8d85282a735cb97bf055a66b7aabf91acf5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,24402 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab83935202c8e18ac794d51d478ac3594c6942a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a793ebde475f9fb57edfdf57175d220a18df5b84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,1705 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4889110910634a66f2700abd1c718963e173824e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07fc083fd9b58a403815cbeeed94273788b9f940
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18766d5d8bff79c2ae9f1da6bd4958e5c0233737
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2e1029627ac26e35c90b1e67d5f8993bdf1caa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_13.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf428d67ed867ac457d7d7b9ecbdac58aa0be763
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3eee989fee608b352ed9dd752e4238663b3d3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f412b5ca1c5e32367c9435bedd0d5a3a2c2806e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_16.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_17.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857ad8eb013709e402808d82df6e3d3adb252511
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_18.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55dbf015e6ea2de6c2f64e63dff18cad9d42fd60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_18.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_19.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dac8354aec0632c5434f4d62f4d725e93da0f6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.03641552 -0.09508188 -0.04120230
+v 0.03482331 -0.09555055 -0.04120230
+v 0.03295070 -0.09607639 -0.04127642
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1746884f4e7dac6429f91993aacfb53c1eed5af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_2.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_20.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f46a4aa5d1883a6e5a15cca318a4eea627a83f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_20.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_21.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13bf9682f5a6f7871d7250122325d5633963da99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_21.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_22.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae929969e01c05e30d88b52a5d2e0b38da21fff7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_22.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_23.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6922e533057a6eef7d25b292442c62f936c835
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_23.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_24.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd0ddead71684ad7ffe356b2c9fdf91b56483bea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_24.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_25.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4949a73ff0d3dd6c4c27c4593541892d81c8ef5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_26.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeda77f7f9b9a4029ab19e39f3f0e700e87cc84f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_26.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_27.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd93b7ae41de88c415322f22b2308e69685933a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_27.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_28.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a16df7533df8e7f855f7b4d274891cccb489736
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_29.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3876c18c7da97421270d897c7df5584164b4f9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_29.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d43ca47dfd31e8319d6680bcfc9f0d815a83bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_30.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43dece58235b04e4b1aa078b16eac5edd2a0f0be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_31.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d617db56d8eb261ffcb4cae1c53297aaf587a569
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_31.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_32.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0491ba158852af3a1d09ec7e1c33a0eca2a84fba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_32.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_33.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7dfe079419401fe18a874187fa141981e3937e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_33.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_34.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48733a0b57d969f2accb8f7b5d391e64346d2373
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_34.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_35.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe963a6ce8b214f3582e3f8c94f839f1b2178c20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_35.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_36.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35bbabed193371c75d780232f981213f863f5178
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_36.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.06439644 0.04977793 0.06751316
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+v 0.09740965 0.02451869 -0.00151037
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_37.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b393b3a415488c8a0b1d3ab7ac0e229860e033
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_37.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_38.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5879d2a7a2baa38ef89f7f81ed537520f0635472
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_38.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_39.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2075bb52dc39b21a4b02c85d9e5c03c38a0174
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_39.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c8bf1ba682ed95d2ce8f63c6c39cf771c92bc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_40.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bffdc230b50b036fd5264dea0252196a0f93bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_40.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_41.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ccad0d7138a05d89a6dde4cac5320fd68ca47ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_41.obj
@@ -0,0 +1,688 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_42.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014e8b6264f818d82981685b43de925b5b1d21a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_42.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_43.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89862e2b7346f96e5553f410f2bb69832a518a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_43.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_44.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62a8abdeff3a60ef63ad9769a8cab55e1cbf272a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_44.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_45.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..501a7adc9d30214c8e060781eed0e8d7ee6aaf24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_45.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_46.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49be597939cca8a0340ed3b4021be5408d0a43f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_46.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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+v -0.02954903 0.08175824 -0.03334720
+v -0.02954903 0.09388229 -0.03253462
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_47.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23c391f85efc50b50fb569306ed0d08c4cf6eeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_48.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14926118b404c50d20e3b1140a3e5fb85e6843f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_48.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_49.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b707b6ebf29708ab3e959bafa5769bec5645b07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_49.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.09316743 -0.00240787 -0.00366883
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+v -0.09300433 -0.00560375 -0.00366884
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e553c59995de13fdb81b79a6d4d9b144e060a52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.08372433 0.04062579 -0.03335051
+v -0.08360560 0.04062579 -0.03384697
+v -0.08386465 0.04030990 -0.03335051
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+v -0.08036195 0.04030994 -0.04434210
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_50.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..409aa6f51a38bdbecea829541f84a6d3b8338713
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_50.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_51.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881a12ca5672e9b64e52039759b06a1fd06007dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_51.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_52.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71785249215230d72ff81348763f0851439cc1ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_52.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_53.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edd8676a77f92b8588aef5de189d3c243253357
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_53.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_54.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc48a9d6d476388f23b7b74a69f1a3fea410f580
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_54.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_55.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79732cd6bac8f9f82ef5e5d1b71e901fbb9c16e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_55.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_56.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..577c08a2872d25ea8697792cbe9bd0ee2f80c1c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_56.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_57.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8d659975a46eb69318087b9f5e72fb25a53d83
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_57.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_58.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377d4b49feee7006bd172ed7e55529c0e8695c43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_58.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_59.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb10823e469b6f21007cb777a894e1ace808eb8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_59.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e40d58295cc1e1ddfa1fa807a16fe582f666e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,856 @@
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_60.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ae2a7a21fcb3449f5af0f8f2edec7d16ca9272
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_60.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8312fd34de50749d861e82178ab1373144179d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b190c6b7b07f49eee7347245d1491564de297ddf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afc71467120a730a22a287e607ccfb454573863
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/mjcf/mesh/ceramic_teapot_collision_9.obj
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