diff --git a/.gitattributes b/.gitattributes
index 69ceee15b58448c0365d44ba0722484ee334d930..c7dbc37d65282e4cdc530aa09ac302f37ae89f17 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4810,5 +4810,6 @@ dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.urdf b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..85669024fe5f68bc20f1816defd4b2a6a245666f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.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>0.309326</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>glossy blue ceramic teapot with spout, handle, and lid</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>20260119170516</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.2079176902771</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</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/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.usd b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..346694e48bf556b93c5d5492661135cbf3360a81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68aedec13d025f4bae2272ad7c3f816a87984e8b48244500d00b40c883025ae5
+size 277285
diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9dbfeb945be290211ae3627a21e21283e7949665
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66beef8cc08100965f71e62505710a874a14a2b24d8042daa72b10ddebe29980
+size 2194692
diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ea7ff8397b344d42ca0a4618e3a033e0ce347ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.obj
@@ -0,0 +1,17194 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178393aeeaea2e4e731ccc234a12b82cc809a3fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..53bddecf1cd4899342e8c43ae604d57e34951bca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79dc7a9f0a11477df30f95a20bd549e3bd7542b4468af27c6a13e3d6f6472d48
+size 2800137
diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/material.mtl b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/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/ccd37c758de15e978c7d709637a97cd2/mesh/material_0.png b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..949f1ccf63e45c0e8058ae80a7be5f1159c7d7e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9668e765a6c2cb81eddde57b162c1b881e6e62f671dcfb0cb235ad9cffedc3
+size 2005806
diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/ccd37c758de15e978c7d709637a97cd2.xml b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/ccd37c758de15e978c7d709637a97cd2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2a58528c19d719d6ea02f806396a6b41c9955d78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/ccd37c758de15e978c7d709637a97cd2.xml
@@ -0,0 +1,40 @@
+<?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" />
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+    <mesh name="collision_mesh_0_1" file="mesh/ceramic_teapot_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <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" />
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+    <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" />
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+    <mesh name="collision_mesh_0_12" file="mesh/ceramic_teapot_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ceramic_teapot">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_12" 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/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c7889994f5bf6053f9493523676e9bdd39257b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,17194 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511ab41dd88be904c6a6addfa55fa75bed4840d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,18246 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4500d2f52fd0eb5a780f73aa76ca4d11060bdc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_0.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d3e923e4be1937d58e549240c75e56957ddeb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511a65d839826907ee20af6e7f9efd9f114b7ba5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aa8492b3e3deea2bf2bfb2af616aefc5f45bbf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8c3e27c32269fe3b0f88c7a747315b1f273181
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f7406f8fb0c8f7755f79986e83a9b33453ec512
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614e9194afbec0a09fa353399f434e9a6f77230e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b301775c506816e77ce8239b1ad231729e016479
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2330ba7016d5acbada8e45a1518526a21cb9e587
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d78edf0698ee7efee04ba57a29869e6f0e3ce0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c781c058e83bd4176e409545d4de37a9edcac3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.00220698 0.11161603 -0.02022698
+v 0.00145400 0.11174413 -0.02022698
+v 0.00707596 0.11298811 -0.02022697
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diff --git a/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625e3570cd5671a4d791636cd82ada0cbb7dfbdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mjcf/mesh/ceramic_teapot_collision_8.obj
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