diff --git a/.gitattributes b/.gitattributes
index ad89b642d6b938c0c85c1ef66ccee9524755549b..ab519589c86f57e285d26cda57271e0bfb4e4053 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4654,6 +4654,6 @@ dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/mesh/cup_gs.ply f
 dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/1ee67f9304355ffab2fd5d831ad75085.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.urdf b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89dadbb77430ace847b264aad1cd168203a48ff0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.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>0.295755</scale>
+         <version>v0.1.7</version>
+         <category>ceramic teapot</category>
+         <description>glossy blue teapot with ribbed texture and curved spout</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>20260119165707</generate_time>
+         <gs_model>mesh/ceramic_teapot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.649832725524902</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/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.usd b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.usd
new file mode 100644
index 0000000000000000000000000000000000000000..76c7811bfdf7439bcb62a869ecfac9e06207105b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6bf925e3c91e943907d5729730b8b96bd76e1c73be75496cb333b9ae44b71c6
+size 315538
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.glb b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..233b85f50a5dc7991084d0f1167b621578e4e30e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cad7b56de06b432b6ee2108bf83966c557c1145ea1c81de59b612668169526
+size 3668968
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad5b68a32d11fdb7076802255c80bb9a37ce913
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.obj
@@ -0,0 +1,19802 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9a4153514b0241937b4c680bfca43208bc1f50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_gs.ply b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..49d9d5f408ac31733096a8bcf6cc78909fd1e87b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53cc6da8fd930655581db35d97772d8cd2c0192beadc60cfe1cb794e22c2c12
+size 3137929
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/material.mtl b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/material_0.png b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f4a3736d5be3638e49674d231b4fe0544030d08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32bd3f417c1c2e2534b0df0f9b00a90f766491157016496d13e2530a3cbfad8
+size 3451996
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/1c1375e0981259169b73f51abd19d851.xml b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/1c1375e0981259169b73f51abd19d851.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e7eab90cd8528725850fcf1fe91cbbd49f0a122c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/1c1375e0981259169b73f51abd19d851.xml
@@ -0,0 +1,48 @@
+<?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" />
+  </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/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..375e2c1f641f0f5f021814208ea15777251a005c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot.obj
@@ -0,0 +1,19802 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9c210e2665453e5d0f30ed869ea4b40182a6d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision.obj
@@ -0,0 +1,18433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_0.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0c6d115d779f1928187a673ddb643c8b51463f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_0.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_1.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30efc4b9fcea8446b76a03c4657ef1efb54d6e9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_1.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_10.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece84540f147672754878fb47b2bed6eb218c698
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_11.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a04c5542b273335bb5da10d5043380b6af654c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_12.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531cced228b250ace0935bc68031e0aca4a6c3dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_13.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec96cd82a68d47a9ec6a5872ee5ca05c2aeea98e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_14.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4c0b5b317849086fac8cc3affb647ebfd738ac1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_15.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b7ad10403220f34553f0ac74bd1615a5a8f3de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_16.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceede513019bf6925452003731ca11ee384f7886
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_16.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_2.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d40886bc3d40a758ba414c1531315a4d8a98962
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_3.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c34e7d525727bc75f16212867e6a497f67d19c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_3.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+v -0.01872896 0.08150881 -0.01941456
+v -0.01821202 0.08150880 -0.01559036
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+
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_4.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..148a5a5808cc6210b1ed76ab25b58c9a7a05a332
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01108536 0.08478291 -0.04037703
+v -0.01071877 0.08478292 -0.04472024
+v -0.01102679 0.08478290 -0.03899135
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+
diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_5.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4bc4d6619010e463266d145711306abee7c14f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_5.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v 0.01318855 0.10783359 0.04048755
+v 0.01289312 0.10342800 0.04284994
+v 0.01302157 0.09898541 0.04206245
+v 0.01299845 0.09472793 0.04198494
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+v 0.01304726 0.09402452 0.04094247
+v 0.01288798 0.11956952 0.02519060
+v 0.01223548 0.12581507 0.02519062
+v 0.01311148 0.12336793 0.02724305
+v 0.01315258 0.11930294 0.03199537
+v 0.01315515 0.11514909 0.03619771
+v 0.01296505 0.11808121 0.03489026
+v 0.01289826 0.11357197 0.03909261
+v 0.01178592 0.11215772 0.04191250
+v 0.01034477 0.10783357 0.04588486
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_6.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06276b567ec56fed17c658fdf7027cc2e1493113
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_7.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f42ba03fa10fefc12f5161db04b19f0c746f2a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_7.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_8.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..005f0eb5e74addff1c14d2582fe17212423bebe5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_8.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_9.obj b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4cf76e032b610fe5c958ca11023e4af1ef3881c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mjcf/mesh/ceramic_teapot_collision_9.obj
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