diff --git a/.gitattributes b/.gitattributes
index ff9a2866d3d06113f819ebb2f9772273d5ed1a2a..badc9e736e6154d61ba5d1bd2ae2e698d750f43b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4674,3 +4674,6 @@ dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/mug_013.usd filte
 dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/3425f984850d54e2966a7ff035633f70.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.urdf b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc4a2c4528c9f89609160114880d29b6a4298af3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.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>0.260454</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>floral ceramic teapot with gold accents 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>20260119162959</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.850045680999756</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/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.usd b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c47ebb9280602ce9ccaadfc64810de0960b86033
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/3adc23d9b3eb56129e22d0a3389d6d5d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7443cf00e648c1ca5280c681cb57db2839ea9656316ab8e39ae07275ffd77c46
+size 484911
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b1409836b5c2b4e9e5afbed09e0911b79f6870d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ad727ccf07725faf8bf77fe595678848dcd51853ad5db18af26251732702cc
+size 3383464
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4e842f2c2acd14b6f2f1bf363449d8bdcd090f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot.obj
@@ -0,0 +1,30930 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6ebd9438ad16bf3d46bf754cc4977899476670
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,19186 @@
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ec4bf45160a441e22bf45990e6b9f98afae9326f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2968809
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/material.mtl b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/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/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/material_0.png b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba9335ea300ea2bb379bf52c3a454c175ea3c53bed57ab37b2058feda514e1c1
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/3adc23d9b3eb56129e22d0a3389d6d5d.xml b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/3adc23d9b3eb56129e22d0a3389d6d5d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..009b3549724fe5700758a292709b869dc46c1713
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/3adc23d9b3eb56129e22d0a3389d6d5d.xml
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61420d24845ea5d859643d222d5bdaffac627c1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,30930 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd490d5c0806307038acf397f60a8b4d80a883d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,19186 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973f6d5242700e7eee3dbb08ca0caff6acbceb0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_0.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba2d14de183d72ca019c2bf965efac0eb717ae1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,247 @@
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+v 0.00409134 0.11782289 0.01332075
+v 0.00191616 0.11326067 0.00074504
+v 0.00033065 0.09082349 -0.02722152
+f 1 2 3
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+f 1 28 39
+f 1 39 57
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+f 51 71 74
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+f 59 79 60
+f 59 63 78
+f 60 79 66
+f 60 66 61
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+f 74 80 76
+f 74 76 83
+f 75 83 76
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f30fc1fb8a3b1addba883a1694d2f873781b3689
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00190755 0.05862020 0.02921262
+v 0.00592530 0.05862022 0.02530027
+v 0.00813475 0.06225333 0.02412269
+v 0.00804083 0.06512316 0.02398114
+v 0.00574384 0.06512316 0.02559741
+v 0.00223069 0.06890631 0.02566431
+v 0.00182956 0.05867055 0.02921262
+v -0.00427826 0.05862020 0.02921262
+v 0.00710961 0.05862023 0.02143303
+v 0.00804879 0.06239432 0.02143304
+v 0.00799149 0.06480195 0.02177218
+v 0.00769063 0.06710184 0.02329201
+v 0.00769063 0.06710184 0.02343513
+v 0.00309823 0.06890631 0.02524274
+v 0.00194894 0.06890631 0.02566431
+v -0.00190804 0.05963119 0.02921262
+v -0.00218979 0.06890631 0.02561764
+v -0.00239673 0.06890631 0.02556786
+v -0.00526837 0.05862020 0.02882372
+v 0.00666231 0.05862024 0.01834360
+v 0.00770177 0.06305892 0.01938430
+v 0.00770177 0.06329354 0.01938430
+v 0.00654930 0.05862025 0.01759690
+v 0.00522650 0.06890635 0.01366125
+v 0.00567697 0.06890634 0.01756115
+v 0.00563719 0.06890632 0.02188262
+v 0.00558784 0.06890632 0.02196041
+v 0.00574384 0.06795976 0.02412426
+v -0.00278990 0.06890631 0.02531741
+v -0.00766405 0.06708170 0.02340401
+v -0.00573477 0.06512316 0.02557097
+v -0.00550077 0.05862020 0.02867750
+v 0.00566266 0.05862026 0.01441880
+v 0.00505458 0.06890635 0.01332212
+v -0.00491817 0.06890631 0.02348490
+v -0.00548485 0.06890632 0.02166174
+v -0.00549440 0.06890632 0.02161974
+v -0.00553261 0.06890634 0.01762960
+v -0.00766405 0.06708170 0.02333868
+v -0.00801903 0.06512316 0.02394691
+v -0.00812727 0.06207711 0.02410868
+v -0.00675831 0.05862022 0.02531427
+v 0.00536976 0.05862026 0.01392723
+v 0.00509279 0.05862026 0.01373122
+v 0.00494951 0.05862026 0.01363011
+v 0.00477919 0.06530546 0.01332211
+v -0.00247631 0.06890635 0.01332212
+v -0.00518878 0.06890635 0.01377325
+v -0.00801903 0.06512317 0.02240219
+v -0.00812727 0.06207712 0.02211284
+v -0.00755899 0.05862023 0.02181882
+v 0.00391643 0.05862026 0.01332209
+v -0.00474306 0.06548471 0.01332211
+v -0.00498025 0.06890635 0.01332524
+v -0.00514739 0.06890635 0.01366591
+v -0.00531134 0.05862026 0.01399411
+v -0.00652272 0.05862025 0.01755180
+v -0.00753034 0.05862023 0.02143303
+v -0.00343140 0.05862026 0.01332209
+v -0.00473192 0.06531654 0.01332211
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 8
+f 1 8 19
+f 1 19 32
+f 1 32 42
+f 1 42 51
+f 1 51 58
+f 1 58 57
+f 1 57 56
+f 1 56 59
+f 1 59 52
+f 1 52 45
+f 1 45 44
+f 1 44 43
+f 1 43 33
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+f 1 23 20
+f 1 20 9
+f 1 9 2
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+f 15 17 16
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+f 18 31 19
+f 19 31 32
+f 21 23 33
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+f 22 33 24
+f 24 33 34
+f 29 35 30
+f 30 36 37
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+f 30 38 39
+f 30 39 49
+f 30 49 40
+f 30 40 32
+f 30 32 31
+f 30 35 36
+f 32 40 41
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+f 33 43 34
+f 34 43 44
+f 34 44 45
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+f 34 52 59
+f 34 59 60
+f 34 60 53
+f 34 53 47
+f 38 48 39
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+f 41 50 51
+f 41 51 42
+f 45 52 46
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+f 48 50 49
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+f 50 57 58
+f 50 58 51
+f 53 60 54
+f 54 60 56
+f 54 56 55
+f 56 60 59
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc31b2eb1c6eb71b596aae266daeb3962adf7adb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03105636 -0.03291812 -0.10108430
+v -0.03105636 -0.03438304 -0.10108431
+v -0.03107291 -0.03292222 -0.10108240
+v -0.03633665 -0.01715693 -0.09581762
+v -0.03633665 -0.01682455 -0.09570525
+v -0.03633562 -0.01270472 -0.09420620
+v -0.03105636 -0.01835513 -0.09382719
+v -0.03105636 -0.03439946 -0.10106907
+v -0.03107291 -0.03437894 -0.10108241
+v -0.03633665 -0.02041503 -0.09615288
+v -0.03633665 -0.01270472 -0.09420620
+v -0.03633665 0.00601091 -0.08342912
+v -0.03105636 -0.01771089 -0.09343289
+v -0.03105636 -0.03574129 -0.09883100
+v -0.03241831 -0.03491650 -0.09861957
+v -0.03450592 -0.03407940 -0.09714150
+v -0.03633665 -0.02443639 -0.09440243
+v -0.03633665 0.00601090 -0.08162722
+v -0.03536599 0.00601090 -0.08162722
+v -0.03105636 -0.01656604 -0.09242719
+v -0.03105636 -0.03587669 -0.09699291
+v -0.03105636 -0.03590953 -0.09516056
+v -0.03450592 -0.03407940 -0.09675864
+v -0.03633665 -0.02525299 -0.09108247
+v -0.03633665 -0.01872858 -0.08162731
+v -0.03151948 -0.00592183 -0.08162726
+v -0.03105636 -0.01484672 -0.09073576
+v -0.03105636 -0.03446514 -0.09268821
+v -0.03113286 -0.03442821 -0.09269773
+v -0.03245449 -0.03494523 -0.09528436
+v -0.03559960 -0.01961492 -0.08162731
+v -0.03105636 -0.00793660 -0.08162727
+v -0.03105636 -0.02384554 -0.08162733
+v -0.03182236 -0.02352958 -0.08162733
+v -0.03295429 -0.02247911 -0.08162732
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 20
+f 1 20 27
+f 1 27 32
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+f 1 28 22
+f 1 22 21
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+f 23 31 25
+f 23 25 24
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+f 28 34 29
+f 29 34 35
+f 29 35 31
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d042fff1083367f32e7d2777a8292190339c6663
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04796474 -0.01657744 -0.10141403
+v -0.05028934 -0.01534106 -0.10114480
+v -0.05034187 -0.01259899 -0.10114479
+v -0.04797152 -0.01256532 -0.10124358
+v -0.04398988 -0.01661110 -0.10130944
+v -0.04415592 -0.02044878 -0.10117001
+v -0.04661098 -0.02037227 -0.10115256
+v -0.04597900 -0.02236762 -0.10087561
+v -0.04933036 -0.01793317 -0.10008924
+v -0.05081628 -0.01657745 -0.09883610
+v -0.05364579 -0.01105964 -0.09716265
+v -0.05364579 -0.01045370 -0.09716265
+v -0.04999453 -0.01045675 -0.10093949
+v -0.04934222 -0.01045675 -0.10093949
+v -0.04525384 -0.01383537 -0.10110606
+v -0.04193976 -0.01799132 -0.10097050
+v -0.04193976 -0.01920628 -0.10097050
+v -0.04298176 -0.02179534 -0.10070323
+v -0.04553001 -0.02236762 -0.10087561
+v -0.04415592 -0.02342344 -0.09920413
+v -0.04659065 -0.02299194 -0.09889616
+v -0.04850523 -0.02020397 -0.09883611
+v -0.04992507 -0.01879620 -0.09750163
+v -0.05364579 -0.01105964 -0.09670363
+v -0.05364579 -0.01045370 -0.09670363
+v -0.04590106 0.00601093 -0.08782316
+v -0.04599256 0.00548762 -0.08929903
+v -0.05034525 -0.00633141 -0.09748608
+v -0.05144656 -0.00916222 -0.09861915
+v -0.04421691 0.00601094 -0.09016480
+v -0.04679058 -0.01124632 -0.10055600
+v -0.04078085 0.00601094 -0.09012025
+v -0.04270389 -0.01539921 -0.10048048
+v -0.03633835 -0.01715892 -0.09581657
+v -0.03633835 -0.02041819 -0.09615360
+v -0.03633835 -0.01270000 -0.09420511
+v -0.03633835 -0.01682535 -0.09570423
+v -0.03633835 -0.02443643 -0.09440271
+v -0.04102313 -0.02325819 -0.09811562
+v -0.04400343 -0.02471798 -0.09501475
+v -0.04672281 -0.02320311 -0.09501475
+v -0.04992507 -0.01879620 -0.09675982
+v -0.05192097 -0.01251332 -0.09508250
+v -0.05048589 -0.01137488 -0.09252393
+v -0.04475401 -0.00279371 -0.08162725
+v -0.04523011 0.00064612 -0.08162724
+v -0.04541649 0.00294444 -0.08162723
+v -0.04548766 0.00392988 -0.08162723
+v -0.04550630 0.00419307 -0.08162722
+v -0.04557576 0.00601091 -0.08162722
+v -0.04615691 -0.02264614 -0.09282805
+v -0.04530806 0.00601094 -0.08955276
+v -0.03927120 0.00601094 -0.08879933
+v -0.03886796 0.00601093 -0.08841390
+v -0.03766669 0.00601093 -0.08647319
+v -0.03660097 0.00601092 -0.08405988
+v -0.03633835 0.00601092 -0.08342848
+v -0.03633835 -0.02525356 -0.09108297
+v -0.04400343 -0.02337144 -0.09208819
+v -0.04344770 -0.00664669 -0.08162726
+v -0.04409323 -0.00497880 -0.08162726
+v -0.03633835 0.00601091 -0.08162722
+v -0.03633835 -0.01872893 -0.08162731
+v -0.03653658 -0.01849023 -0.08162731
+v -0.03953722 -0.01413229 -0.08162729
+v -0.04110954 -0.01130453 -0.08162728
+v -0.04290382 -0.00797487 -0.08162727
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
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+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
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+f 6 19 8
+f 6 8 7
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+f 11 25 12
+f 11 23 42
+f 11 42 24
+f 12 25 26
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+f 17 35 18
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+f 18 20 19
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+f 21 41 23
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+f 34 58 38
+f 34 38 35
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+f 44 61 45
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+f 45 60 67
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+f 45 63 62
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+f 45 50 49
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+f 51 59 63
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+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 60
+f 58 63 59
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bd3826b767d9308c364ed55250deab61c28a16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_13.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.00123387 0.01695895 0.08743230
+v -0.00119468 0.01695599 0.08743230
+v -0.00067394 0.01677004 0.09130228
+v 0.00069329 0.01677004 0.09130228
+v 0.00314635 0.01623290 0.08743230
+v -0.00310249 0.01619748 0.08743230
+v -0.00258759 0.01592297 0.09130228
+v -0.00026645 0.01664313 0.09347060
+v 0.00025779 0.01664313 0.09347060
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8458b6be66e410412d39ed23836ca7b2ffdebe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122497f59ed83e61f35bc8ea4bebc7b844cf741c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7c11ead7fba7da6b686b7c8d0f25b1ed086280
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_16.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_17.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637b5e6dcc3c72bbd8d48639cb66b16ba0330c60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_17.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_18.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575e488eb258087b6a539b516d9e3540493bb872
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_19.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c500a4ba604e78de1c4a68f2de220e87de42baa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde15751654165b16aecb7ffcf8038bd51ce7133
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_20.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554b46f64c5cc9392ce154fb5d6cdbe24f29364e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_20.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_21.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b885c2d4e20ddb3258f6b39171918fee931f7bfa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_21.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_22.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f54d66c475e026ed0256b590cd3b26fbe2b7f68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_22.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03160876 0.02113777 -0.08150178
+v -0.03214082 0.01858106 -0.08150179
+v -0.03160876 0.02863808 -0.08864414
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+v -0.03160876 0.04858220 -0.09120114
+v -0.03164759 0.03842499 -0.08150172
+v -0.04557835 0.00601091 -0.08150184
+v -0.03766535 0.00601093 -0.08647315
+v -0.03160876 0.03305898 -0.09229349
+v -0.03160876 0.03290218 -0.09217770
+v -0.03160876 0.05050300 -0.09501452
+v -0.04413556 0.04126486 -0.09509754
+v -0.04294910 0.04066379 -0.09233979
+v -0.03237967 0.03772374 -0.08150172
+v -0.04590069 0.00601093 -0.08782212
+v -0.04560942 0.00683412 -0.08150183
+v -0.05054363 0.02626430 -0.09218544
+v -0.05105239 0.02601605 -0.09504356
+v -0.03886735 0.00601093 -0.08841458
+v -0.03160876 0.03491445 -0.09356333
+v -0.04613177 0.04018468 -0.09644459
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_23.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c12e9b6a35e2497edb0e95b69971ff850329269
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_23.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03105636 -0.00793713 -0.08162727
+v -0.03105636 -0.01484604 -0.09073396
+v -0.03105636 -0.02384817 -0.08162733
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+v -0.03105636 -0.01771442 -0.09343283
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_24.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8198ce31b1036fde78e158022f85e492e0401524
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_24.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00030432 0.04097618 -0.08149978
+v -0.03160876 0.02113669 -0.08149985
+v -0.00030432 0.04340117 -0.08594170
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+v -0.03160876 0.04683804 -0.09566654
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+f 23 33 24
+f 23 44 45
+f 24 33 32
+f 24 32 31
+f 24 31 25
+f 25 31 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 51
+f 25 51 26
+f 30 46 31
+f 33 45 34
+f 34 52 53
+f 34 53 35
+f 34 45 52
+f 36 42 37
+f 37 54 39
+f 37 39 38
+f 37 42 54
+f 39 54 44
+f 42 55 54
+f 44 56 45
+f 44 54 57
+f 44 57 56
+f 45 56 52
+f 52 56 57
+f 52 57 58
+f 52 58 55
+f 52 55 59
+f 52 59 53
+f 54 55 57
+f 55 58 57
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_25.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf7840db55f199bae8c1b614926fe9c09db4dbb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_25.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.04800908 -0.01662105 -0.10154581
+v 0.04398241 -0.01663012 -0.10138982
+v 0.04804485 -0.01251959 -0.10129426
+v 0.05036318 -0.01259818 -0.10117143
+v 0.05042043 -0.01541811 -0.10122018
+v 0.04665850 -0.02037190 -0.10122409
+v 0.04419527 -0.02041420 -0.10122214
+v 0.04523817 -0.01376182 -0.10115388
+v 0.04194850 -0.01914780 -0.10096282
+v 0.04194850 -0.01802346 -0.10096282
+v 0.04945803 -0.01055199 -0.10090039
+v 0.04989630 -0.01055199 -0.10090039
+v 0.05381743 -0.01022860 -0.09740820
+v 0.05094098 -0.01662106 -0.09892910
+v 0.04939900 -0.01800835 -0.10024331
+v 0.04597874 -0.02236066 -0.10087312
+v 0.05381743 -0.01142851 -0.09740820
+v 0.04559057 -0.02236066 -0.10087312
+v 0.04304147 -0.02174106 -0.10067424
+v 0.04690715 -0.01117159 -0.10059231
+v 0.04268908 -0.01543323 -0.10047534
+v 0.04077145 0.00601094 -0.09007085
+v 0.03554268 -0.02014826 -0.09569041
+v 0.03554268 -0.02382959 -0.09432553
+v 0.03554268 -0.01672988 -0.09530628
+v 0.03554268 -0.01319060 -0.09392968
+v 0.04148698 0.00601094 -0.09018394
+v 0.04417203 0.00601094 -0.09001821
+v 0.04450832 0.00601094 -0.08984467
+v 0.04486430 0.00601094 -0.08962823
+v 0.05011811 -0.00650797 -0.09724634
+v 0.05128265 -0.00909821 -0.09862100
+v 0.05381743 -0.01022861 -0.09630069
+v 0.04595549 0.00509514 -0.08923632
+v 0.04573904 0.00601093 -0.08812101
+v 0.05003403 -0.01888789 -0.09765587
+v 0.04853141 -0.02026007 -0.09892911
+v 0.04657622 -0.02297724 -0.09889598
+v 0.04419527 -0.02339132 -0.09918652
+v 0.05381743 -0.01142852 -0.09630069
+v 0.04118467 -0.02322509 -0.09808680
+v 0.03885918 0.00601093 -0.08842907
+v 0.03554268 -0.02486630 -0.09113558
+v 0.03554268 0.00601091 -0.08196337
+v 0.03769465 0.00601093 -0.08648897
+v 0.03792720 0.00601093 -0.08689844
+v 0.04573904 0.00601093 -0.08797866
+v 0.04540632 0.00601091 -0.08162800
+v 0.05003403 -0.01888790 -0.09663804
+v 0.04667281 -0.02312233 -0.09501383
+v 0.04401103 -0.02445825 -0.09501384
+v 0.04527394 0.00294314 -0.08162801
+v 0.04479990 -0.00094372 -0.08162802
+v 0.04359959 -0.00490916 -0.08162804
+v 0.05061183 -0.01136203 -0.09251992
+v 0.04610576 -0.02255413 -0.09287483
+v 0.03554268 -0.02397770 -0.08941775
+v 0.04401103 -0.02314653 -0.09212611
+v 0.03554268 0.00601091 -0.08162800
+v 0.03987524 -0.01263754 -0.08162807
+v 0.03554268 -0.01896351 -0.08162809
+v 0.03939941 -0.01337501 -0.08162807
+v 0.03723492 -0.01655765 -0.08162808
+v 0.03554268 -0.02341856 -0.08841944
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 11 12
+f 3 12 4
+f 3 8 11
+f 4 12 13
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 13 17
+f 5 17 14
+f 6 16 7
+f 7 16 18
+f 7 18 19
+f 7 19 9
+f 8 20 11
+f 8 10 21
+f 8 21 22
+f 8 22 20
+f 9 23 10
+f 9 19 24
+f 9 24 23
+f 10 23 25
+f 10 25 26
+f 10 26 21
+f 11 20 22
+f 11 22 27
+f 11 27 12
+f 12 27 28
+f 12 28 29
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+f 12 32 13
+f 13 33 40
+f 13 40 17
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+f 13 47 33
+f 14 17 36
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+f 14 37 15
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+f 16 38 39
+f 16 39 18
+f 16 37 38
+f 17 40 49
+f 17 49 36
+f 18 39 19
+f 19 39 41
+f 19 41 24
+f 21 26 22
+f 22 42 46
+f 22 46 45
+f 22 45 44
+f 22 44 59
+f 22 59 48
+f 22 48 47
+f 22 47 35
+f 22 35 30
+f 22 30 29
+f 22 29 28
+f 22 28 27
+f 22 26 42
+f 23 24 43
+f 23 43 57
+f 23 57 64
+f 23 64 61
+f 23 61 59
+f 23 59 44
+f 23 44 26
+f 23 26 25
+f 24 41 39
+f 24 39 43
+f 26 44 45
+f 26 45 46
+f 26 46 42
+f 30 35 34
+f 33 47 48
+f 33 48 40
+f 36 49 50
+f 36 50 38
+f 36 38 37
+f 38 50 51
+f 38 51 39
+f 39 51 43
+f 40 48 52
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 49
+f 43 51 58
+f 43 58 57
+f 48 59 61
+f 48 61 63
+f 48 63 62
+f 48 62 60
+f 48 60 54
+f 48 54 53
+f 48 53 52
+f 49 56 50
+f 50 56 51
+f 51 56 58
+f 54 60 56
+f 54 56 55
+f 56 61 58
+f 56 60 62
+f 56 62 63
+f 56 63 61
+f 57 58 64
+f 58 61 64
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_26.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc3ffd9afa517e9a987cf36525f79238d69db20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03150475 -0.03575912 -0.09516402
+v 0.02937154 -0.03716074 -0.09501515
+v 0.02765641 -0.03835209 -0.09791722
+v 0.03150475 -0.03555843 -0.09876017
+v 0.03150475 -0.03463467 -0.09294444
+v 0.02681411 -0.03787110 -0.09306240
+v 0.02745804 -0.03823743 -0.09501515
+v 0.03132775 -0.03456459 -0.09256743
+v 0.02487621 -0.03924722 -0.09501515
+v 0.02492503 -0.03891592 -0.09908500
+v 0.02623426 -0.03750474 -0.10050607
+v 0.02884052 -0.03705241 -0.09908500
+v 0.03115074 -0.03450085 -0.10113635
+v 0.03150475 -0.03463782 -0.10046933
+v 0.03150475 -0.02276565 -0.08162808
+v 0.02487621 -0.03816098 -0.09285359
+v 0.02475108 -0.02781143 -0.08162810
+v 0.01711238 -0.03171044 -0.08162812
+v 0.01580315 -0.03232843 -0.08162812
+v 0.01339832 -0.03310250 -0.08162812
+v 0.00595799 -0.03513483 -0.08162813
+v 0.03077231 -0.02396339 -0.08162809
+v 0.02104923 -0.03983016 -0.09501516
+v 0.02104923 -0.03857191 -0.09241083
+v 0.02103396 -0.03904971 -0.09909080
+v 0.02368294 -0.03817051 -0.10105323
+v 0.02870319 -0.03507423 -0.10137609
+v 0.03115074 -0.03304191 -0.10113634
+v 0.03150475 -0.03392110 -0.10062785
+v 0.03150475 -0.00728745 -0.08162803
+v 0.00191739 -0.03586112 -0.08162813
+v 0.01711238 -0.03878214 -0.09496295
+v 0.01831479 -0.03857507 -0.09792688
+v 0.00032738 -0.03588341 -0.08162813
+v 0.02229742 -0.03817051 -0.10105323
+v 0.02492503 -0.03609040 -0.10137030
+v 0.02870319 -0.03251630 -0.10137608
+v 0.03150475 -0.03279662 -0.10062785
+v 0.02870319 -0.03057316 -0.10054084
+v 0.03150475 -0.01744906 -0.09352247
+v 0.00032738 -0.02381366 -0.08162809
+v 0.03150475 -0.01385586 -0.08991663
+v 0.00032738 -0.02967172 -0.08953773
+v 0.00032738 -0.03507428 -0.08725246
+v 0.00032738 -0.03444355 -0.08964023
+v 0.02209295 -0.03591519 -0.10118662
+v 0.00032738 -0.03345287 -0.08978329
+v 0.00032738 -0.03202896 -0.08998437
+v 0.02487621 -0.03290493 -0.10134128
+v 0.03150475 -0.01558238 -0.09183846
+v 0.02246832 -0.03356113 -0.10108801
+v 0.00032738 -0.03104466 -0.08980842
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 29
+f 1 29 38
+f 1 38 40
+f 1 40 50
+f 1 50 42
+f 1 42 30
+f 1 30 15
+f 1 15 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 9
+f 4 12 13
+f 4 13 14
+f 5 15 8
+f 6 16 9
+f 6 9 7
+f 6 8 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 16
+f 8 15 22
+f 8 22 17
+f 9 23 10
+f 9 16 24
+f 9 24 23
+f 10 23 25
+f 10 25 26
+f 10 26 11
+f 11 26 13
+f 11 13 12
+f 13 27 37
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+f 13 29 14
+f 13 26 27
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+f 23 32 33
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+f 23 24 31
+f 23 31 34
+f 23 34 32
+f 25 33 35
+f 25 35 26
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+f 28 40 38
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+f 34 47 45
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+f 40 49 51
+f 40 51 43
+f 40 43 50
+f 42 50 43
+f 43 51 52
+f 46 48 51
+f 46 51 49
+f 48 52 51
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_27.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da6d8fdb32a63c08cddc5df6971c13b2b30c92b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.05141722 0.03035242 -0.09478989
+v 0.05052367 0.02919846 -0.09239489
+v 0.05050026 0.02626608 -0.09228665
+v 0.05102507 0.02600815 -0.09502960
+v 0.05106408 0.03024834 -0.09911791
+v 0.05054903 0.03313547 -0.09889561
+v 0.05062512 0.03312641 -0.09593229
+v 0.04629591 0.04032160 -0.09628407
+v 0.04295000 0.04064288 -0.09221701
+v 0.03948507 0.02946088 -0.08151974
+v 0.04021473 0.02816666 -0.08151975
+v 0.04340066 0.02193082 -0.08151977
+v 0.04403278 0.02038318 -0.08151978
+v 0.04451857 0.01849162 -0.08151978
+v 0.04485804 0.01693493 -0.08151979
+v 0.04524629 0.01337805 -0.08151980
+v 0.04541017 0.01071719 -0.08151981
+v 0.04543358 0.00972616 -0.08151981
+v 0.04546480 0.00683451 -0.08151982
+v 0.04541407 0.00601543 -0.08151983
+v 0.05087679 0.02713043 -0.09797164
+v 0.04573793 0.00601545 -0.08797803
+v 0.04573793 0.00601545 -0.08812108
+v 0.04993837 0.03161499 -0.10097939
+v 0.04993837 0.03244764 -0.10097939
+v 0.04717385 0.03812233 -0.09908115
+v 0.04629591 0.04032161 -0.09791167
+v 0.03148608 0.05224117 -0.09501404
+v 0.03148608 0.05125465 -0.09337485
+v 0.03148608 0.04930426 -0.09125240
+v 0.03229378 0.03766521 -0.08151971
+v 0.03606696 0.03380967 -0.08151973
+v 0.03699562 0.03262858 -0.08151973
+v 0.03529438 0.00601543 -0.08151983
+v 0.04486389 0.00601546 -0.08962883
+v 0.04450687 0.00601546 -0.08984533
+v 0.04417130 0.00601546 -0.09001929
+v 0.04783718 0.02947001 -0.10027385
+v 0.04783718 0.03141135 -0.10109151
+v 0.04785278 0.03385952 -0.10126741
+v 0.04658660 0.03695934 -0.10121134
+v 0.03148608 0.04957579 -0.09646768
+v 0.04400937 0.03903191 -0.10050965
+v 0.03148608 0.03821730 -0.08151971
+v 0.03769408 0.00601545 -0.08648768
+v 0.03157583 0.01951885 -0.08151978
+v 0.03148608 0.03157875 -0.09106109
+v 0.03148608 0.03331193 -0.09231369
+v 0.04148482 0.00601546 -0.09018361
+v 0.04553503 0.03166024 -0.10103545
+v 0.04415960 0.03436636 -0.10120362
+v 0.04400937 0.03709057 -0.10114561
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+v 0.04205059 0.03588233 -0.10087500
+v 0.03148608 0.03897759 -0.09502762
+v 0.03148608 0.02003926 -0.08151978
+v 0.03792624 0.00601545 -0.08689748
+v 0.03148608 0.03504512 -0.09346575
+v 0.04077076 0.00601546 -0.09007149
+v 0.03148608 0.03551122 -0.09375184
+v 0.03885880 0.00601545 -0.08842843
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 8 9
+f 2 9 10
+f 2 10 11
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+f 2 12 13
+f 2 13 14
+f 2 14 15
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+f 2 17 18
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+f 3 20 4
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+f 4 20 22
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+f 5 25 6
+f 5 21 24
+f 6 25 26
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+f 6 27 7
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+f 20 34 45
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+f 20 35 23
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+f 21 36 24
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+f 27 41 28
+f 28 42 55
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+f 28 60 58
+f 28 58 48
+f 28 48 47
+f 28 47 56
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+f 28 44 30
+f 28 30 29
+f 28 41 43
+f 28 43 42
+f 30 44 31
+f 34 46 47
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+f 34 48 45
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+f 40 51 41
+f 41 52 43
+f 41 51 52
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+f 42 53 54
+f 42 54 55
+f 45 48 58
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+f 46 56 47
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+f 51 54 53
+f 51 53 52
+f 54 59 55
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+f 57 58 60
+f 57 60 61
+f 59 61 60
+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_28.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff6633544f908c445ca811d6010e74517e1798
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_28.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.05260856 -0.01547302 0.03796834
+v -0.05230341 -0.01547302 0.03920808
+v -0.05227290 -0.01547302 0.03705255
+v -0.04599719 -0.03795847 0.03880151
+v -0.04599719 -0.03795848 0.03973443
+v -0.04643456 -0.03611237 0.04095237
+v -0.04563103 -0.03753753 0.04232138
+v -0.04609891 -0.03494589 0.04289921
+v -0.04609891 -0.03331280 0.04289922
+v -0.04191849 -0.01547304 0.04459224
+v -0.04920116 -0.01547299 0.02868274
+v -0.04399344 -0.03849353 0.03822680
+v -0.04421721 -0.03849608 0.04095236
+v -0.04916048 -0.01556935 0.02868274
+v -0.04880448 -0.01635040 0.02868274
+v -0.04697364 -0.01997413 0.02868273
+v -0.04676004 -0.02039001 0.02868273
+v -0.04633285 -0.02115331 0.02868272
+v -0.04515297 -0.02314650 0.02868271
+v -0.04482749 -0.02368156 0.02868271
+v -0.04276271 -0.02666120 0.02868270
+v -0.04258980 -0.02687674 0.02868270
+v -0.04132856 -0.02840333 0.02868270
+v -0.04095221 -0.02883949 0.02868269
+v -0.03930446 -0.03066024 0.02868269
+v -0.03904000 -0.03091636 0.02868269
+v -0.03741259 -0.03248098 0.02868268
+v -0.03701591 -0.03285376 0.02868268
+v -0.03536815 -0.03421551 0.02868267
+v -0.03505285 -0.03445134 0.02868267
+v -0.03231676 -0.03619855 0.02868267
+v -0.03059780 -0.03715457 0.02868266
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_29.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23cd92921f26c70dcfc38fee25a617688017c59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_29.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d86e1de5b52d051ae87351ebdcca05a4f66527
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,832 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_30.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ada53b9d2103f14d9a092cb9eb4e4ac341bf23c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_30.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03148608 0.02003841 -0.08151978
+v 0.03148608 0.03158085 -0.09105865
+v 0.03148608 0.03822101 -0.08151971
+v -0.00030120 0.04099105 -0.08151970
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_31.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf768b51c08dcf888a8b6f00bd39c50538e53e93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_31.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03150475 -0.03279604 -0.10062947
+v 0.03554268 -0.01672698 -0.09530567
+v 0.03554268 -0.02014933 -0.09569073
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+
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c1d2408e6efb839a49f49463cf98f74a30dc3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
+v -0.00189977 0.05250952 -0.07215004
+v -0.00189977 0.05221132 -0.07847949
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b54b9599e8026d8ae72102091140fc2e5fa77f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00754b0ad84bb30deae10d5376c75b703abd0fe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4521395089032b1c8545a6780f0bbb632076dd5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc9091c0481c2583bdc44741e35d50a81bcb2c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85df7940b14219c6bf57c27146f42571842853c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b48c377063d434d744768c5e7d0920831491a03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3045996
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/textures/material_0.png b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b48c377063d434d744768c5e7d0920831491a03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3045996
diff --git a/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/video.mp4 b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7ffd8e8228f45512d4c638ef5dd6bb0711c196
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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