diff --git a/.gitattributes b/.gitattributes
index f19fc0ac8c2f14c9362993eaf5115f28e9c0e263..9a1c125de278dc471548665da835bc8650f2aebd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4681,3 +4681,6 @@ dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/baby_bottle_011.u
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/mesh/baby_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.glb filter=lfs diff=lfs merge=lfs -text
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+dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.urdf b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95525c987d8f796025e44f871f4b1855534ec8c4
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+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.urdf
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.usd b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.usd
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+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/42c11b2d3f545fd8a5d21995bbd25810.usd
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.obj
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot.obj
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20e5fa9d8297a450bd2477d353f264411e242d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,9906 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a27194fd21c23c287fa87008fb921d898e8686b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab67c60f0cc09fba4c7a14f2fb08c3b2114cd7af3ec279ce2a8ccd79fc28bdf
+size 3840841
diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/material.mtl b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/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/42c11b2d3f545fd8a5d21995bbd25810/mesh/material_0.png b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/42c11b2d3f545fd8a5d21995bbd25810.xml b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/42c11b2d3f545fd8a5d21995bbd25810.xml
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index 0000000000000000000000000000000000000000..a428d4d238e6bd68adab83abcbf5eed73084b2b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/42c11b2d3f545fd8a5d21995bbd25810.xml
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa449bd16f2ba031fcf767ad0638278d44a774eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,21882 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff77d9d8b2329785f437897d70fb519f787313fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,9906 @@
+# https://github.com/mikedh/trimesh
+
+o ceramic_teapot_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e467b5675715cae7cca95738f5655ec5030abe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74bd0d01c51e005e150e314cfa8c96e0e795c165
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556938c057ebcaba6184c0933a2e0e56edd16899
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9fafdfd3b4e5c028bb6a5a3f070e255d532c73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bded979eb373f09809f8a7c7bc5cedd57acda548
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4efb835f494579fa2ad627852d046da6917e6be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_13.obj
@@ -0,0 +1,1093 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b99ad4048d423d7276c7107e094f7e37e0c9e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb1c1de24904dee45dfc3b816bc2d5a70f70d13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_15.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517a9cbf91dbe0a077c9b1472fda52f51f949ac3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_2.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e52d7ae8e511fecc09978909e7320c279062e18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2ff8e8e6510edb1e2fa71989bb8b111319a510
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be457ea68f73b47f4cb5197261fde3b6249039e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ab16c6b5a1a62d1bdaf8b56f213ed3483ee96a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2268c5598178ff4d0db6080e3284eca5aaf26b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6dd6c72d6c34c88ae7ec007f7eaa0dc3ab4498
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fad5bcedf40430402aafff85ea99b02b4c3c509
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,301 @@
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