diff --git a/.gitattributes b/.gitattributes
index c1cc62d1bc969358d168bf0e914f60c09479622e..0d38e09f8f981c46c66142c04e84291bda086da0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4768,6 +4768,6 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mesh/mug_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mug_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/a73ea2cd1d11512e91d1abec172d0f00.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.urdf b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab4ea6b71e6685b714aa185e4c143b6bd7e66938
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.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>0.295683</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>glossy white 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>20260119161445</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.872275352478027</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/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.usd b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.usd
new file mode 100644
index 0000000000000000000000000000000000000000..257b0bdcf4494a7c7c913814d9081e86928835ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5778032ff6856ca587dee59d65df708ec6b4a4d5323540a7920370c6fe4f91
+size 326054
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e9136e30617f604c8ade51288cba4c6ba11aa028
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2000ce521897188e9c25849fed0b5ba04efc9e3c2a2e4f400d0163a2c70f0baf
+size 1959164
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c44e4cce318f958f9b6ea059a21df80fe1a035b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.obj
@@ -0,0 +1,20690 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266fe279f225323249550285525e1c8afb6f783c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2b9da1402ee3cb731da62aca54e0638f02d4b051
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9632d997c95445a0706824d7ef0a3b48ae500bfc10a6a6334727f7d6322383
+size 3044745
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/material.mtl b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/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/a8a4a3eb374f54c398b4084e131ae9d5/mesh/material_0.png b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..66130e15b390910caab73ddab54851b1276e8ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e9bfdf437545a4f4bd14a15a0b6289310439d1ecfec9a1babd04d69740e0da
+size 1732824
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/a8a4a3eb374f54c398b4084e131ae9d5.xml b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/a8a4a3eb374f54c398b4084e131ae9d5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c0f95e4307cd847a84888933e9e41e8db5a72de6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/a8a4a3eb374f54c398b4084e131ae9d5.xml
@@ -0,0 +1,60 @@
+<?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_0" file="mesh/ceramic_teapot_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ceramic_teapot_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/ceramic_teapot_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/ceramic_teapot_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/ceramic_teapot_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/ceramic_teapot_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/ceramic_teapot_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/ceramic_teapot_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/ceramic_teapot_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/ceramic_teapot_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/ceramic_teapot_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/ceramic_teapot_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/ceramic_teapot_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/ceramic_teapot_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/ceramic_teapot_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/ceramic_teapot_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/ceramic_teapot_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/ceramic_teapot_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/ceramic_teapot_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/ceramic_teapot_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/ceramic_teapot_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/ceramic_teapot_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/ceramic_teapot_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </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" />
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+      <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_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48f9fe225ad8cb4b1bc92ef84627706a10092443
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,20690 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b4f34c8a167710a4ea6057ac414ea953029284a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,22117 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b598b663f402542daa9bc2ceeb9f8c68516e9da5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76e0815f6c13910136ff358c845c19f176ea375
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac47c44856cd45ee2f1c66df618d7cab444fdb95
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3b2c52c7c39732240ba131b16e58893563024e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,985 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aba17a22249ae0cb2b1cdff6a43164c6bfeb4b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,1315 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0a24a3e572443ca6f2eedabec709ad5471ab22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9891d77006e97f76f57eee22a7400e3a4990a0f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef1911503debc353162c4b38a393d7e5d39df66a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_15.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00121533 0.05053961 -0.09076841
+v -0.00031189 0.05053601 -0.09076841
+v -0.00031189 0.04647298 -0.09866249
+v -0.00213261 0.05053601 -0.09076841
+v -0.00031189 0.01377404 -0.09076855
+v -0.00031189 0.04469516 -0.10137033
+v -0.00213261 0.04468796 -0.10136507
+v -0.00213261 0.04646218 -0.09866249
+v -0.00517484 0.05033808 -0.09076842
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+v -0.04740183 0.01377404 -0.09076855
+v -0.00031189 0.04267623 -0.10137033
+v -0.03788336 0.01535396 -0.10151988
+v -0.04064901 0.01535396 -0.10151988
+v -0.00647470 0.04455121 -0.10131139
+v -0.01949172 0.04039817 -0.10134509
+v -0.00647470 0.04608070 -0.09866249
+v -0.01081217 0.04423452 -0.10109986
+v -0.01315376 0.04400059 -0.10090518
+v -0.00664524 0.05007896 -0.09076842
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+v -0.04702386 0.01535392 -0.09076854
+v -0.04318420 0.01377408 -0.10029699
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+v -0.01093662 0.04908209 -0.09076842
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+v -0.02828191 0.04165771 -0.09076845
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+v -0.03947360 0.03110597 -0.09076849
+v -0.03739014 0.03359635 -0.09076848
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+
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63a0b3578cfe5d5cdcb61492d8c9df8256b60b15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04536706 -0.01115987 -0.09455641
+v 0.04408293 -0.01513829 -0.09455643
+v 0.04293790 -0.01219878 -0.09973425
+v 0.04366558 -0.01115986 -0.09872500
+v 0.02832816 -0.01115987 -0.09455641
+v 0.04324020 -0.01711040 -0.09455643
+v 0.03957239 -0.01857545 -0.10125057
+v 0.04175007 -0.01115985 -0.10109278
+v 0.04016363 -0.01544933 -0.10151716
+v 0.02562880 -0.01278981 -0.09455642
+v 0.03790569 -0.01115985 -0.10155848
+v 0.04199888 -0.01989747 -0.09455644
+v 0.03865208 -0.02150872 -0.09998230
+v 0.03488261 -0.02661317 -0.10096608
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+v 0.03709508 -0.01996277 -0.10159434
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+v 0.01974317 -0.02002500 -0.09455644
+v 0.01803633 -0.03437094 -0.10130506
+v 0.03677672 -0.01537779 -0.10159295
+v 0.01803633 -0.03748462 -0.10158131
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+
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_17.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee906c0e6fffb0a45a41bcfb1f3b12203e5e84ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_17.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.01216363 -0.00527541 -0.09445224
+v 0.01321552 0.01377406 -0.09449059
+v -0.01216363 -0.01115987 -0.09445226
+v -0.01216363 0.01377406 -0.09443295
+v 0.01321552 -0.01115987 -0.09447147
+v 0.00220779 -0.01115987 -0.09447147
+v 0.01321552 0.01377342 0.07789877
+v -0.01216363 -0.01116051 0.07812924
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+v 0.01321552 -0.01116051 0.07803317
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+v 0.00257546 0.01363426 0.08940803
+v 0.00220779 0.01355371 0.09323166
+v 0.00468459 0.01328280 0.09238624
+v 0.00629935 0.01169879 0.09394257
+v 0.00881342 0.00885052 0.09640196
+v 0.01100453 0.00654896 0.09409626
+v 0.01240069 0.00222410 0.09378881
+v 0.01311863 0.00080851 0.09211719
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+v -0.00348116 -0.01116051 0.07976244
+v 0.00220779 -0.01114590 0.08971538
+v -0.00212972 -0.01100923 0.08971538
+v -0.00212972 -0.01063338 0.09409620
+v -0.00541142 -0.00953996 0.09409620
+v -0.00758266 -0.00785590 0.09409621
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+v -0.01091405 -0.00224723 0.09409623
+v -0.01152269 0.00215087 0.09409625
+v -0.01200464 0.00215089 0.08971543
+v -0.01216363 -0.00225449 0.08008912
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+v -0.00251230 0.01364646 0.08936961
+v -0.00685229 0.01377342 0.07955118
+v 0.01321552 -0.00162235 0.07926291
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+
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_18.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..859dcd2b23533b3dc5d193a9aeba487f79df578a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_18.obj
@@ -0,0 +1,1306 @@
+# https://github.com/mikedh/trimesh
+v -0.08680223 0.00132634 -0.01866812
+v -0.08680223 -0.00092152 -0.01866812
+v -0.08679491 0.00141419 -0.01541033
+v -0.08675108 0.00361568 -0.01541033
+v -0.08672186 0.00253692 -0.01998546
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_19.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e865cf48f597078d05aa4d179c51ca530bae75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_19.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234053d14001dbb15f05de5fdcc5c80be0a81951
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_2.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_20.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1813cfe92842eeb31f9db501c3bdbf9c74e427de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_21.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3c9468b863cec8a9069acaf1a5fe2d56e8b962
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_22.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82bee64ba2c9f8909d380c9d262034dd6448bbe3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_22.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b825def9b088066bd9331133aaa7d6bf37bdd117
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,1012 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4218da1ce39b0371d1bf11bc2abe022de04b39b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f6d9ad57c10d3cbc3bd7b6741eba60f3d872daf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa717e9b9a1aa5419cd2a581b71dceb79d0300c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986177ffbc30d08233130d713db705156abdb5aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00734905 -0.11941577 0.05353266
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+
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713696b6948b34bdeee1116f1b8af67d6d88a01e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00124186 -0.13327020 0.04591837
+v -0.00213242 -0.13324172 0.04591837
+v 0.00124186 -0.13256906 0.04309156
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+
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ee2eca44080edb616207e9d023fbdee948128b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00728922 -0.11941352 0.05334861
+v -0.00832550 -0.11941352 0.05334861
+v -0.00626116 -0.11941351 0.05163379
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+
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..66130e15b390910caab73ddab54851b1276e8ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e9bfdf437545a4f4bd14a15a0b6289310439d1ecfec9a1babd04d69740e0da
+size 1732824
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/textures/material_0.png b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..66130e15b390910caab73ddab54851b1276e8ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e9bfdf437545a4f4bd14a15a0b6289310439d1ecfec9a1babd04d69740e0da
+size 1732824
diff --git a/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/video.mp4 b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e845d1996e9a0a9636ef7add31317e02fffb947
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5394d2ced3d894b47c7dde2da2d4187dd26fd20713da22ae0151303ef0cab1
+size 171922