diff --git a/.gitattributes b/.gitattributes
index c8e734b40aa0a831d189a6343d136345780501b5..5bdcb2b866e2f9984d65ac02fe991717d07f7627 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4657,5 +4657,6 @@ dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_g
 dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.urdf b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e120fa18a807e988fe9e50bfc9c7a15e08d4e2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.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>0.276391</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>glossy blue ceramic teapot with spout, handle, and lid</description>
+         <min_height>0.162</min_height>
+         <max_height>0.198</max_height>
+         <real_height>0.180</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119170851</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.0716118812561035</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/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.usd b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4f0601699172ed3f9272c6ece97c0459037d5154
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/22672bceb36552e08f4cf75ab82bbfe3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e419eb3f02664a5e2c2fd9d643e14b76fa3c3174b2bbfcbb43965c24a066d079
+size 316010
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7cb67449dbfb5f206c9a73c2ac256caa12ca8349
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26bcd6bc6ec9bba1bcdefd9974e6bc3a28b4170ef8a711fb17dfb7dc3e93500
+size 2033180
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b9889e541376de4f879adcd4d994ebc732bd1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot.obj
@@ -0,0 +1,19724 @@
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..537c81a1847fcd57944879e9eb4c6630d784b074
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,17616 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..11bb6a40c5fd284bfc020398945fbb9e6f4fab08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e8fa8720b5ead212cff37d23819e7af612fad9d07e9b27656306a4e03970d3
+size 3083945
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/material.mtl b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/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/22672bceb36552e08f4cf75ab82bbfe3/mesh/material_0.png b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4102ab50245d5cbcc3164cb0be2a7980de6bc6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a0b6b3b4e777b1f19bf6b7fb17fd8946899a387e2560db340ae15beb078c74
+size 1816899
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/22672bceb36552e08f4cf75ab82bbfe3.xml b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/22672bceb36552e08f4cf75ab82bbfe3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e9495cba27ae273a3398000287305ad4555cc27e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/22672bceb36552e08f4cf75ab82bbfe3.xml
@@ -0,0 +1,52 @@
+<?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" />
+    <mesh name="visual_mesh_0" file="mesh/ceramic_teapot.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+  </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" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" 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/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8e59a7b3459bfe320679b55bf0dd1fdd7b1c45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,19724 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e5a11338dcab48693be49de03fe2f58bf85e456
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,17616 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334c97b1f43d22d4fd3506b452b872b9ee4e4f34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6efb4a6fa7268e73f03f07497569ea54af9a6f39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69f0afbbca0eefa43ccbc366bac73cd269bacd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6c281a177f5b0e4ca05be876bc75ae6622d5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,1168 @@
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe557622bd29f2381426ba5594ee2d2b9771366
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32927a41adab88cfa5710116d83355e90cfa1ccf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_13.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00201264 0.07376423 0.03920882
+v -0.00407925 0.07376423 0.03818114
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+
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be927f8b83aeae375e82b42c87fe510b3d7bb692
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_14.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00199189 0.01448035 0.08814206
+v -0.00199189 0.01416250 0.08405475
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aee66434f6455b1d1a4099d26034d647993521e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39791d361970daf6b3b55951f5a60fb8f6e8c4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_17.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d998ab0e4fa7be7df54a69038c68a11a972f4db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_18.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151c045060a456d6fcb6a285e8d94ae2acee08a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_18.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38084da9b6132dd28906aa96b16b5c97f8d427a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_2.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00198386 -0.10399774 -0.01319956
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c6c98dbb9cce77387d57629c762d0d8ffc6dd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e259d4c5d42560ed652a25013bfca12744b3b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85597270531ea2bbd876b2a8d60dc6cc86f5cff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea9464633d600846c275da6c65922f433d39eaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be441a1a27675df215e73adc0793d29a0ee22cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23487ba74eaea896db38324b858ee6eee2e6c4e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c99341873226b342652601c94284cf75ecd360
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mjcf/mesh/ceramic_teapot_collision_9.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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