diff --git a/.gitattributes b/.gitattributes
index 71ba6e57eb5c5edecfa0097d459dc050921ea4b3..8899a9af803a9a9759fb36f0c071efd36ebe3a30 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4619,3 +4619,6 @@ dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef5
 dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/03a3daec03c85f45852bd5f8281fadec.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.urdf b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..acd4c6b47604f7974c8895a01547b629a725fcbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.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>0.272203</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>white teapot with blue floral patterns and curved spout and handle</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>20260119161835</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.894680976867676</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/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.usd b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d1a06a1e93309beb2139623f8832002d9aefd393
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7eeae0b95d1cdbd547cf08220ffc6d5dc534139ca7d9b370cf0f554a6e4f1b6
+size 371591
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d9e441209ddb2f3ef122667df3457be1dca2ed94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6aa0a8119842f7c9f4430e48a7dfb109c1a26858a789d30f7262418bac83b02
+size 2688584
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a3019d8bc5615e42d152fa7479b5acdb6df1528
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f401ffa4e98f67f882ca33184ee66503f74d27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,26429 @@
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5c7a2dacc5b12dc5c582de970f51b14e685c4fc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f51cfe576384f292c25f2436d7e9af124a6142bb3f1273c9d923aa7978829e92
+size 3770281
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/material.mtl b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/material_0.png b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85a676f6ff1a585655afbc706f6aba8f51ca0103
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2017991512e2c4a886151d606ddbc4d3d2c3be38544ffd78eaa7133ae3f2a6
+size 2436827
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/04a84459bb7253a18c5a4088fa668433.xml b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/04a84459bb7253a18c5a4088fa668433.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95bf6f8cac87cdb8140452b3e910a1cf0eb95bce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/04a84459bb7253a18c5a4088fa668433.xml
@@ -0,0 +1,56 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817d8df68a18a51c23801bc8f41eec4f6cc375d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,22940 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.030442 -0.062630 0.002795
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd637f403360b09c34db7fb9150a97b46c88f6ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,26429 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5495cbfe27b2bbcf246d93dab6f1c6e4399efb58
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a9d7754f8e78393d9436e97386f00d85337707
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2275f3f6c8f87c51faffab477554d349af81f30b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc5271025d899133b88feadf97586646c30430c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v -0.12256708 0.00188752 0.04175727
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2937b89151eabd52e8f1883e3a3c11273799c870
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667735642e642e3253af1a01ec24bcaca065db78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d528420899bb4c5b7a06b70276dee2dfc1f7b045
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2933780d1dee756547b5cc869930fc942a8e8939
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_15.obj
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+
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b220533fb7c190921efcf2fbd06fc82397d5ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_16.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.06039494 0.02307943 0.05429182
+v -0.06081472 0.02217673 0.05429182
+v -0.06541614 0.01055446 0.06193393
+v -0.06541614 0.00952989 0.06469784
+v -0.06541614 0.00885286 0.06570161
+v -0.06541614 0.00735889 0.06751432
+v -0.06039494 0.02262357 0.05476356
+v -0.06039494 -0.02302138 0.05429166
+v -0.06120207 0.02127854 0.05429182
+v -0.06541614 0.01087493 0.06001140
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+v -0.06039494 0.02198717 0.05533119
+v -0.06541614 0.00730923 0.06755299
+v -0.06039494 -0.02267836 0.05460410
+v -0.06541614 -0.00753564 0.06755447
+v -0.06541614 -0.00756723 0.06752045
+v -0.06541614 -0.00902057 0.06566444
+v -0.06541614 -0.01055063 0.06192146
+v -0.06112538 -0.02137847 0.05429166
+v -0.06541614 0.01106902 0.05629783
+v -0.06541614 0.01084335 0.05429178
+v -0.06541614 0.01084787 0.05430571
+v -0.06039494 0.00927261 0.06515719
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+v -0.06039494 0.00808557 0.06605271
+v -0.06039494 -0.02062473 0.05641525
+v -0.06541614 -0.00557227 0.06886762
+v -0.06039494 -0.00938165 0.06506742
+v -0.06541614 -0.01090267 0.05790010
+v -0.06541614 -0.01101549 0.05429170
+v -0.06541614 0.00319292 0.06963325
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+v -0.06541614 -0.00018768 0.07008642
+v -0.06039494 -0.00385715 0.06737199
+v -0.06039494 -0.00210139 0.06775711
+f 1 2 3
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+f 33 39 36
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_17.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b17278e889c9999b44de2c9100fe4baab07bdf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_17.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00185717 0.01719628 0.09225117
+v -0.00353333 0.01705041 0.09225117
+v -0.00353333 0.01646398 0.09811550
+v -0.00185717 0.01650082 0.09820584
+v 0.00124313 0.01624444 0.09754899
+v 0.00155151 0.01648757 0.09225117
+v -0.00353333 0.00620025 0.09225113
+v -0.00353333 0.01562118 0.10013670
+v -0.00185717 0.01568601 0.10022703
+v 0.00243684 0.01530293 0.09866260
+v 0.00644236 0.01312376 0.09835611
+v 0.00850979 0.01209827 0.09703734
+v 0.00487398 0.01469148 0.09225116
+v -0.00353333 0.00716531 0.09431539
+v 0.00269878 0.00214396 0.09225112
+v 0.00365209 0.00214395 0.09422587
+v 0.00554874 0.00214394 0.09798375
+v -0.00353333 0.01479607 0.10044316
+v -0.00185717 0.01368954 0.10071755
+v 0.00219975 0.01325488 0.10082393
+v 0.00521551 0.01251671 0.10072092
+v -0.00353333 0.01362471 0.10073190
+v 0.00791957 0.01152510 0.09973143
+v 0.00850979 0.01209828 0.09548388
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+v 0.00954433 0.01006645 0.09835610
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+v -0.00353333 0.00914557 0.09807073
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+v 0.00782507 0.00214393 0.10075718
+v 0.01070818 0.00214393 0.10071329
+v 0.01070985 0.00226916 0.10071329
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+
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_18.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182dc75cc0b799d8516cfc9a32f68f290c891eb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00353498 -0.01745074 0.09225105
+v -0.00353498 -0.01698863 0.09831365
+v -0.00388576 -0.01745453 0.09225105
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+v -0.00591311 -0.01695455 0.09831365
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+v -0.00591311 -0.01624244 0.10048809
+v -0.00591311 -0.01740718 0.09225105
+v -0.00990191 0.00189206 0.09225112
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+v -0.00799973 -0.01609281 0.10035547
+v -0.00353498 -0.01407577 0.10088507
+v -0.00591311 -0.01407577 0.10088253
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+v -0.01990357 0.00189206 0.09225112
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+v -0.01413282 -0.01319886 0.09807819
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+v -0.02019343 -0.00437688 0.09590718
+v -0.02035153 -0.00210227 0.09750019
+v -0.02019343 -0.00437689 0.09683629
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+f 1 29 30
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+f 1 44 52
+f 1 52 41
+f 1 41 27
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+
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_19.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5552da5677cbe7a7a9e64034373c4d8de35299a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_19.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00353333 0.01705052 0.09225118
+v -0.00353333 0.01646447 0.09811569
+v -0.00353333 0.00620088 0.09225114
+v -0.00621445 0.01687545 0.09225118
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e340cae2dbba338d93878a404e28e6d0dc6de4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_2.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_20.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc0f66cb56b59d1308b8b6b09a1cc98567a4077
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edcfc5e98dac0d345c9b6883789b18c5fbff604
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c082ff2ef66da4ff643ee96309dff532a2f306f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7d8f293781bf9b878e56e9cf5bcc7637f02749
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f23fd6944d22022a274da9094fe9881d346a05d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a6d6336381fc04d70a0b5491e68f4e7d3a8b8ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb9dd97659fa66c58efe9c992cb44d90b1c5b71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6538a70988a3ea3f0474650880704db8746723e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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