diff --git a/.gitattributes b/.gitattributes
index 0a0e8a1fa9d6cfbd5a21759a18c517bc94c29a37..2cba28a4169d8dd6dc8929ba97d1ddaef8bbfb82 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/wine_glass_004.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/a2a46e2b40c0595f9a75d61501250540.urdf b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/a2a46e2b40c0595f9a75d61501250540.urdf
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/a2a46e2b40c0595f9a75d61501250540.usd b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/a2a46e2b40c0595f9a75d61501250540.usd
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98822236dd7f717db7d27dd6aa4a5cd668076682
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,16976 @@
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0e897043968a3acee66fcc750614333f9c6c83ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48a7cdee5aee0a3b4bebaeaa8c74b56aed88a0b5c130c8076e95efadf08ad32
+size 2896233
diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/material.mtl b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/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
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/material_0.png b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/material_0.png
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6b07c72e66f78aada97a10a8a257152b31beadb57d1c6d1ea3fc9bf5da2311f5
+size 1849139
diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/a2a46e2b40c0595f9a75d61501250540.xml b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/a2a46e2b40c0595f9a75d61501250540.xml
new file mode 100644
index 0000000000000000000000000000000000000000..05b020e80e16c018e706a337d83a5f01df3eb80b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/a2a46e2b40c0595f9a75d61501250540.xml
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53ceeccfd7a5252427a1fa11b13d916d0d5c5d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,19044 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5baad62a66ebb933bd37743379092db71c9df2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,16976 @@
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7719b1796684b516d23ade93f548d8d30875e2f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_0.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6aeab218764bf0a9598964d7becc8a8b941d9fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2edd51498ccec4cabec0da7ea26f851f1672d48f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce7d7f922118ab4b42a66963aaaaf20abafd7a42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_11.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4bf5e5229f0c2a55bb8f729d2a5a58b2313ed8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_2.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e1084700b34649b98a711b3ae0ae548c769939c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c99c531c6c6b0dc874aeec73452fa0c9ddf6dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f620cbc3b31904b8b1f248e26670e6f710f3af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe3b3c78fa3f20eb0e75c48af32b516b6a241bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac20ec7ab2a8b24aca1793a84b57be101f6b6b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bebeaa0c79458acbec22d5f35bf38f5c2c5da20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a1e40c0c5e3dc18905b5aac69670e656b04a84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/mjcf/mesh/ceramic_teapot_collision_9.obj
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