diff --git a/.gitattributes b/.gitattributes
index 3979ad2c817b8caacdd6110460e486b4b0269d5e..339119abc42ca3d98ecf25fdff24c1d5c00f65c7 100644
--- a/.gitattributes
+++ b/.gitattributes
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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
-dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/coffee_cup_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/mesh/coffee_cup_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/4678c0e22e9852afb0d50ce15808d00d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/4678c0e22e9852afb0d50ce15808d00d.urdf b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/4678c0e22e9852afb0d50ce15808d00d.urdf
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/4678c0e22e9852afb0d50ce15808d00d.usd b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/4678c0e22e9852afb0d50ce15808d00d.usd
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb66291f0ecd3b45a46fa8b2cdc5bc018cba667
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,17103 @@
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3eca0d3f15b8fe3a06d60052f934e82c50451e23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ccfdccaec20673958eadca2611a319a44ff99145a4e2f54a317fadbaeaa5cb
+size 2794761
diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/material.mtl b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/material_0.png b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4a60582e7ae06ccb2463e5b53aadb38258a2014f34d1b5cc0dc9f7972dcb050f
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/4678c0e22e9852afb0d50ce15808d00d.xml b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/4678c0e22e9852afb0d50ce15808d00d.xml
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index 0000000000000000000000000000000000000000..a428d4d238e6bd68adab83abcbf5eed73084b2b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/4678c0e22e9852afb0d50ce15808d00d.xml
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008a3987a40076bb4a492df2d786be95b3ba8abc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,17852 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46374b2045be1e871936bc13681f3a97a08fe5d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,17103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b3b0224353f501e0422c91638842f8d1ddf5d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5856dbfc6504284c9a765a67f123b5e85b30a626
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616e66b7c42fea5de1a29b4b080ff38ec40413d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee49e5b84f0036a3738005c3d8eb4c8459be43e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e236949a2838177320243a65463395904c79be1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_12.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.01452651 0.11812465 0.04562950
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec1f0d371995b4c3adf29bd8cc7fbb4a2921a96a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2adcec6af5476ec4c5bfe5ae0bf368de75155ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_14.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533571b8bdeb20e5c7ead679411207484c732bdd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_15.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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+v -0.01442357 0.12513678 0.04336743
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a12481057f7fbf84043df57bf3bb93691d3ef6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5146ffd0ba101a073ace335b45dda294b2dd2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f84bb9e29c99e2e660875f335986e8419b6acb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8727f76cb166d95a6cd41a4832931db446d52c9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,829 @@
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38625205c47b640663d2069d9db20c077ab864c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fee72e737251c8794fef40b6922d2e0348729a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a1a2b7f4ab88ccdaa07932624d0454db6b8106
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9490bff0626fb85196b41469302cd225a9729ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,442 @@
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