diff --git a/.gitattributes b/.gitattributes
index f5e8246277480dffacf680153d36fe01c6cb9317..a2c26783bb616b233c339cfd36770f7fd5be79c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4729,3 +4729,6 @@ dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.
 dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.urdf b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2136cb211bd2c0c152de327dbd37a8b417706991
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.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>0.283011</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>angular 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>20260119163728</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7154059410095215</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/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.usd b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4af02378fd9d1e91880e835d389b8036113f3450
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/6de98b9ee2de5efcba7801533c9d5d18.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483c73933c2d10ce129e8602b2ec7fce3fd7b1f9f79303f2f704748f041e0833
+size 975328
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..168d2a50235da1000dd1426f35dbe16669ccb7cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e6064d4ea07689c312256932632e1347b8af5bfbb3668143f34f985fa3ad81
+size 2139008
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70d8a196c512101ee2755fdf7999ef4edc6bc74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot.obj
@@ -0,0 +1,60352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a49e62b9fb551cbe440cfa0358d033f14355b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,6322 @@
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0784ad403bffe7f995ee0c9f4aedb271d3dadae3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9861e7d10466b01c96ec46cf730a337e6eecbc20d173c1a88b3d0d7e3da275c0
+size 3047433
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/material.mtl b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+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/6de98b9ee2de5efcba7801533c9d5d18/mesh/material_0.png b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc943fb9f20f64e50287bc43239ca11a12b0409c62576e412cc0b12d250c7ad
+size 1479067
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/6de98b9ee2de5efcba7801533c9d5d18.xml b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/6de98b9ee2de5efcba7801533c9d5d18.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e7eab90cd8528725850fcf1fe91cbbd49f0a122c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/6de98b9ee2de5efcba7801533c9d5d18.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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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" />
+    <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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083c5efcb5139f4fc5677f7057d84be2fe219af9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,60352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090fcf605eadf94c43d365cb94dc2934af2ee0dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,6322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c67c038aba6f38e77d40dae15b3674c9f3b8b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_0.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773795e9303e50c055ed1a721ca25b5d13194095
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d135401b2fe2c2c70482c966c6d95a51e8cb960
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352fcaadbbf7c98c0b5b47837338e7d96a50126b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc67b143699a76672786a7e5323644105b06597
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+f 1 6 16
+f 1 16 23
+f 1 23 33
+f 1 33 45
+f 1 45 48
+f 1 48 34
+f 1 34 24
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+f 1 7 8
+f 1 8 9
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+f 1 11 2
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+f 7 9 8
+f 9 18 25
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+f 9 36 50
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+f 9 54 51
+f 9 51 37
+f 9 37 26
+f 9 26 19
+f 9 19 13
+f 9 13 11
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+f 11 13 12
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+f 23 31 32
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+f 24 35 25
+f 25 35 36
+f 26 37 38
+f 26 38 39
+f 26 39 27
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+f 28 39 38
+f 28 38 29
+f 29 38 40
+f 29 40 41
+f 29 41 31
+f 31 42 33
+f 31 33 32
+f 31 41 42
+f 33 43 44
+f 33 44 45
+f 33 42 41
+f 33 41 46
+f 33 46 47
+f 33 47 43
+f 34 48 49
+f 37 51 38
+f 38 52 41
+f 38 41 40
+f 38 51 52
+f 41 52 46
+f 43 47 50
+f 43 50 44
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+f 47 52 51
+f 47 51 53
+f 47 53 54
+f 47 54 50
+f 48 50 49
+f 51 54 53
+
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f45440a92fbf45ed4b8f3dac732d79f1614e76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_13.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00059864 0.11894764 0.00197632
+v -0.00046091 0.11461657 0.02181735
+v -0.00036965 0.11873304 0.00426240
+v 0.00048988 0.11894764 0.00197632
+v -0.01396278 0.09899773 0.00197624
+v -0.00068823 0.11405862 0.02217727
+v 0.00108558 0.11445270 0.02217727
+v 0.00072219 0.11461657 0.02181735
+v -0.00009752 0.11873304 0.00426240
+v 0.00148548 0.11851845 0.00197632
+v -0.01399596 0.09893529 0.00197624
+v -0.01385160 0.09545095 0.00997752
+v -0.01338368 0.09396045 0.01446860
+v -0.01366907 0.09105359 0.01834463
+v -0.01327914 0.08959431 0.02153051
+v -0.01357948 0.08838474 0.02217717
+v 0.00148548 0.11436296 0.02217727
+v 0.00148548 0.11453854 0.02137635
+v 0.00148548 0.10234938 0.00197626
+v -0.01545616 0.09536905 0.00197623
+v -0.01485051 0.09536904 0.00607773
+v -0.01470449 0.09113165 0.01446858
+v -0.01387815 0.08766681 0.02217717
+v 0.00148548 0.08652359 0.02217717
+v -0.00786811 0.09216176 0.00197622
+v -0.01546612 0.09527150 0.00197623
+v -0.01536490 0.09113166 0.01027413
+v -0.01494012 0.08689037 0.01866499
+v -0.01409220 0.08700350 0.02217717
+v -0.00781003 0.07987882 0.02217714
+v -0.01077025 0.09008991 0.00197621
+v -0.01429796 0.09094440 0.00197621
+v -0.01528691 0.09113168 0.00607771
+v -0.01457340 0.08334752 0.02217716
+v -0.01018285 0.07919600 0.02217714
+v -0.01217901 0.08874378 0.00339809
+v -0.01080509 0.09007429 0.00197621
+v -0.01428966 0.09092880 0.00197621
+v -0.01358114 0.07999197 0.02217714
+v -0.01440581 0.08264130 0.02217715
+v -0.01488204 0.08689039 0.01446857
+v -0.01063086 0.07909065 0.02217714
+v -0.01324264 0.08874378 0.00339809
+v -0.01427473 0.09090929 0.00197621
+v -0.01378192 0.08817021 0.00607770
+v -0.01340525 0.07969153 0.02217714
+v -0.01083662 0.07909065 0.02217714
+v -0.01313809 0.08029632 0.02036369
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 25
+f 1 25 31
+f 1 31 37
+f 1 37 44
+f 1 44 38
+f 1 38 32
+f 1 32 26
+f 1 26 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 6
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 23
+f 6 23 29
+f 6 29 34
+f 6 34 40
+f 6 40 39
+f 6 39 46
+f 6 46 47
+f 6 47 42
+f 6 42 35
+f 6 35 30
+f 6 30 24
+f 6 24 17
+f 6 17 7
+f 7 17 8
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 17
+f 10 17 24
+f 10 24 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 19 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 24 30 25
+f 25 30 31
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 27 34 28
+f 28 34 29
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 32 38 39
+f 32 39 33
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+f 33 40 41
+f 33 41 34
+f 34 41 40
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+f 37 43 44
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+f 38 43 45
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+f 38 46 39
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+f 43 48 46
+f 43 46 45
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474ccaef4b851b2244cea637ab5aae6645bc1022
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01080509 0.09007223 0.00197424
+v -0.01077119 0.09009059 0.00197424
+v -0.01427470 0.09090581 0.00197424
+v -0.01346790 0.09281537 -0.00572641
+v -0.01288144 0.09748644 -0.02120190
+v -0.01309500 0.10156994 -0.03427583
+v -0.01239159 0.10156994 -0.03427583
+v -0.01084747 0.10334362 -0.03791919
+v -0.00862706 0.10166173 -0.02981242
+v -0.00786771 0.09216170 0.00197425
+v -0.00731515 0.10505118 -0.03791918
+v -0.00878299 0.09330010 -0.00428547
+v -0.01428996 0.09092785 0.00197424
+v -0.01354586 0.10117701 -0.03169462
+v -0.01399842 0.10418455 -0.03791919
+v -0.01240684 0.10372186 -0.03791919
+v 0.00154278 0.10233730 0.00197429
+v 0.00154278 0.11132690 -0.02803951
+v 0.00154278 0.11449969 -0.03791915
+v -0.01429843 0.09094253 0.00197424
+v -0.01409673 0.10057109 -0.02749675
+v -0.01471031 0.10585539 -0.03791918
+v -0.01511541 0.10384302 -0.03169461
+v 0.00154278 0.11849486 0.00197435
+v 0.00154278 0.12699243 -0.03791910
+v -0.01546457 0.09527203 0.00197426
+v -0.01554763 0.09536752 -0.00232125
+v -0.01568831 0.09960526 -0.01491094
+v -0.01542389 0.10808073 -0.03791917
+v -0.01570018 0.10384300 -0.02749674
+v 0.00154278 0.11851690 0.00187671
+v 0.00052580 0.11895756 0.00187671
+v 0.00049020 0.11895021 0.00197435
+v 0.00135464 0.12710994 -0.03791910
+v -0.01545610 0.09536750 0.00197426
+v -0.01546966 0.09536750 0.00187662
+v -0.01576628 0.09960525 -0.01071307
+v -0.01507642 0.11012613 -0.03791917
+v -0.01550525 0.10808072 -0.03588857
+v -0.01577306 0.10384299 -0.02329887
+v 0.00055969 0.12758732 -0.03791910
+v 0.00031054 0.12745143 -0.03659140
+v -0.00059797 0.11895021 0.00197435
+v 0.00003086 0.12303374 -0.01636352
+v -0.01399673 0.09893686 0.00197427
+v -0.01540186 0.09960523 -0.00651520
+v -0.01549169 0.10384297 -0.01910100
+v -0.01531711 0.10808071 -0.03169459
+v -0.01421877 0.11240655 -0.03791916
+v -0.00094375 0.12758732 -0.03791910
+v -0.00074374 0.12745143 -0.03659140
+v -0.01403741 0.10403022 -0.01097079
+v -0.01376452 0.10284775 -0.00651519
+v -0.01396282 0.09899929 0.00197427
+v -0.00046238 0.12303374 -0.01636352
+v -0.00303365 0.12567779 -0.03791911
+v -0.00431504 0.12434479 -0.03791911
+v -0.00506422 0.12355894 -0.03791912
+v -0.01290347 0.11444828 -0.03791915
+v -0.01360180 0.11348984 -0.03791915
+v -0.01374756 0.11129019 -0.03169458
+v -0.01382892 0.10710019 -0.01910099
+v -0.01397639 0.09901765 0.00187663
+v -0.01433064 0.09997611 -0.00202835
+v -0.01493914 0.10384295 -0.01491093
+v -0.01481370 0.10808069 -0.02749672
+v -0.01391706 0.11247264 -0.03627125
+f 1 2 10
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+f 1 17 24
+f 1 24 33
+f 1 33 43
+f 1 43 54
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+f 1 45 35
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+f 43 62 52
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+f 47 66 48
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+f 48 66 49
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+f 53 65 64
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+f 53 63 54
+f 60 67 61
+f 61 67 62
+f 62 67 65
+f 65 67 66
+
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c12e6ca504f03ef29417751e61b8022fc72e9e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_15.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00179152 0.04640865 0.03737631
+v 0.00179892 0.06100658 0.03688184
+v -0.00239615 0.04640865 0.03735925
+v 0.00599028 0.04640865 0.03736948
+v 0.00553897 0.06100658 0.03687843
+v 0.00134760 0.06100658 0.03687672
+v -0.00649503 0.04640865 0.03731662
+v 0.01018166 0.04640865 0.03734902
+v 0.01018166 0.06100658 0.03686308
+v 0.00973033 0.06100658 0.03686479
+v -0.00239615 0.06100658 0.03683409
+v -0.00284747 0.06100658 0.03682728
+v -0.00659121 0.06100658 0.03676248
+v -0.00659121 0.04640865 0.03731491
+v 0.01437673 0.04640866 0.03650494
+v 0.01392540 0.06100659 0.03566943
+v -0.01078259 0.06100659 0.03579391
+v -0.01029057 0.04640865 0.03685791
+v 0.01788001 0.04640866 0.03476732
+v 0.01437673 0.06100659 0.03550062
+v -0.01328705 0.06100659 0.03410576
+v -0.01356820 0.04640866 0.03559776
+v -0.01078259 0.04640866 0.03674196
+v 0.01889364 0.04640867 0.03172011
+v 0.01666662 0.06100660 0.03374766
+v 0.01642986 0.06100660 0.03394035
+v -0.01372357 0.06100661 0.03125635
+v -0.01545487 0.04640868 0.03125630
+v -0.01440795 0.04640866 0.03503164
+v 0.02233773 0.04640872 0.01995756
+v 0.01680350 0.06100661 0.03125635
+v -0.01336103 0.06100661 0.02877696
+v -0.01331664 0.06100662 0.02847685
+v -0.01473719 0.04640869 0.02708535
+v 0.01844231 0.04649302 0.01995756
+v -0.00239615 0.06100662 0.02625496
+v -0.00194483 0.06100662 0.02626008
+v 0.00179892 0.06100662 0.02630270
+v 0.00599028 0.06100662 0.02637262
+v 0.01018166 0.06100662 0.02648687
+v 0.01437673 0.06100662 0.02764300
+v 0.01661483 0.06100661 0.02893725
+v 0.01679240 0.06100661 0.03101932
+v -0.01100454 0.04640872 0.01995756
+v -0.01078259 0.06100662 0.02702401
+v 0.00599028 0.04651732 0.01995756
+v -0.00613990 0.06100662 0.02624643
+v -0.00659121 0.06100662 0.02624643
+v -0.01081218 0.04642729 0.01995756
+v 0.00592370 0.04651732 0.01995756
+v 0.00179892 0.04651446 0.01995756
+v -0.00239615 0.04649874 0.01995756
+v -0.00659121 0.04647731 0.01995756
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 18
+f 1 18 23
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+f 1 29 28
+f 1 28 34
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+f 1 30 24
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+f 46 50 48
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+f 48 52 53
+f 48 53 49
+
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72b8406296125918bea44f498b0e388afc4145a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_16.obj
@@ -0,0 +1,1201 @@
+# https://github.com/mikedh/trimesh
+v 0.05654224 -0.01058799 0.01995565
+v 0.05619246 -0.00954135 0.01995565
+v 0.05434519 -0.00823308 0.02991401
+v 0.05410471 -0.00901807 0.03271319
+v 0.05437797 -0.01182810 0.03438365
+v 0.05437797 -0.01301127 0.03438364
+v 0.05602850 -0.01350040 0.01995564
+v 0.05505567 -0.00648104 0.01995567
+v 0.05494637 -0.00716365 0.02286448
+v 0.05028992 -0.00796012 0.05224290
+v 0.05008225 -0.00835831 0.05466799
+v 0.04634397 0.00941205 0.01995572
+v 0.04191708 0.01746667 0.01995575
+v 0.04508695 0.00288178 0.04805063
+v 0.04624560 0.00076573 0.04805062
+v 0.04981991 -0.00929120 0.05746071
+v 0.05034458 -0.01065639 0.05621591
+v 0.05389703 -0.01049704 0.03565424
+v 0.05014783 -0.01208985 0.05880870
+v 0.05014783 -0.01295447 0.05880869
+v 0.05038830 -0.01340953 0.05643519
+v 0.02992619 -0.06559380 0.01995545
+v 0.03214510 -0.06125932 0.01995546
+v 0.05464031 -0.01352320 0.03125553
+v 0.05577710 -0.01489972 0.01995564
+v 0.04960130 0.00347347 0.01995570
+v 0.04801636 0.00636313 0.01995571
+v 0.04598326 0.00028791 0.05103039
+v 0.04573185 -0.00016717 0.05382311
+v 0.04885801 -0.00672010 0.05621593
+v 0.03824438 0.02403096 0.01995578
+v 0.02896429 0.03799000 0.02862424
+v 0.02874568 0.03756907 0.03125572
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd1100a69097c89c3fbfd9040e3e4e55ff5ab749
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629822494994c343a618c5e96f7f501bd6138350
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf57407b3756e9b051254382a7872792ef88e7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4171c9642fc8006cc8090073e5c8bc41c1000332
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d9e55a61d201693fee73f628d3932216469d36
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca4cfa019853a23864df3f340eddf5d9103ea43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227c8be63f2d03ca32d6b6e8931ec7209af597ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f215d9ec2d419f5104c68b936c41dc154a5c81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..45c76598d4fadd04fba6b25f8bb1a7ea5a1820c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc943fb9f20f64e50287bc43239ca11a12b0409c62576e412cc0b12d250c7ad
+size 1479067
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/textures/material_0.png b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..45c76598d4fadd04fba6b25f8bb1a7ea5a1820c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc943fb9f20f64e50287bc43239ca11a12b0409c62576e412cc0b12d250c7ad
+size 1479067
diff --git a/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/video.mp4 b/dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8872a331cdce4099dd9e8493cc31d4a21ae652ff
--- /dev/null
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