diff --git a/.gitattributes b/.gitattributes
index defa1ae2f244922c1837f579f04abfe377bfd267..06cc39287792f7810ab9e4030cea8723458ea05f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4878,7 +4878,5 @@ dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/baby_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/mesh/baby_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.urdf b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..540cd29c96edcec016e3e7737ed630b3be49707d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_031">
+   <link name="baby_bottle_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>1.000000</scale>
+         <uuid>fe38431ef031508b9ac3cc9d14fb91bb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>blue,transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>teal silicone-sleeved baby bottle with nipple and side straps</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155449</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028154 -0.041303 -0.047129</min>
+            <max>0.030059 0.041304 0.072871</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.usd b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/baby_bottle_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89999823fe3e24e7b29561a55cf85ff4498650b48823564423c6462ffb62cb9a
+size 5014283
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.glb b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0eb61340619726b9d27ed79b705e0785b82ddaf1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14393220
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.mtl b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccdeb778acbe49e101fc560f41f53e27a7ebbc5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.mtl
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+newmtl baby_bottle_031_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb58c34d06e58abf97886b40b8c80e579586b9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031_collision.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821164ba527aafc49b7d01a477b223c11d185c17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031_collision.obj
@@ -0,0 +1,13038 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..57783259d03bdd9f15b4f9ab278b0268393d2ba8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/baby_bottle_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d167fed9ac46501efb63a199042c450a8601229864ba43671406b30d19be135
+size 10886784
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/material.mtl b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..189aec0b6433e45c36a587d425a1f40a43193e51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_031_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd baby_bottle_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/material_0.png b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..57783259d03bdd9f15b4f9ab278b0268393d2ba8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d167fed9ac46501efb63a199042c450a8601229864ba43671406b30d19be135
+size 10886784
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/baby_bottle_031.xml b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/baby_bottle_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fdccf83c012d86d6f48e62bc077307a679be95b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/baby_bottle_031.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_031">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_031_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/baby_bottle_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/baby_bottle_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/baby_bottle_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/baby_bottle_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/baby_bottle_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/baby_bottle_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/baby_bottle_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/baby_bottle_031_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/baby_bottle_031_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/baby_bottle_031_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/baby_bottle_031_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/baby_bottle_031_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/baby_bottle_031_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/baby_bottle_031_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/baby_bottle_031_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/baby_bottle_031_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_031">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" 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/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e113af168223f73b64addc42fc56f9c9ee99e55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031.obj
@@ -0,0 +1,115624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_031_geometry_Looks_material_0
+v -0.000780 0.037226 -0.008158
+v -0.000780 0.037226 -0.008158
+v -0.000780 0.037226 -0.008158
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+v -0.000680 0.037454 -0.009398
+v -0.000134 0.037364 -0.007572
+v -0.000134 0.037364 -0.007572
+v -0.002734 0.039999 -0.015452
+v -0.002734 0.039999 -0.015452
+v -0.002855 0.040341 -0.014572
+v -0.002361 0.040412 -0.014961
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+v -0.002361 0.040412 -0.014961
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+v -0.003220 0.039742 -0.015264
+v -0.003216 0.040120 -0.014391
+v -0.002465 0.040838 -0.013541
+v -0.003037 0.040475 -0.013612
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9796698e87dd50cc9af3ab61c699343bd7ed0859
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision.obj
@@ -0,0 +1,13038 @@
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_0.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e75d0e5ad491ce77fecf7d58668ebac0c0e46c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_0.obj
@@ -0,0 +1,1837 @@
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_1.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d01fdde1c79c1783325ca6a64d1ceda464d32e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_10.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99294c2ca9078d87a28776a0faf63ea9d6105682
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_10.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_11.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a644d01011d165b0ced0fa9704c88d79d23605ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_11.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_12.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac4e1e86013c945d077b590eee1321fbf069191
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_12.obj
@@ -0,0 +1,907 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_13.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d57fa191ddd27deae02d6ccbdaa017a86ed5441
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_13.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00251271 0.02986372 -0.00610881
+v 0.00251091 0.02985043 -0.00610881
+v 0.00251091 0.02983448 -0.00472027
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+v 0.01919807 0.01628978 -0.00610886
+v 0.01951448 0.02189341 0.00055654
+v 0.01954864 0.02214058 -0.00226165
+v 0.00251091 0.02937070 0.00044238
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+v 0.01952706 0.01628976 -0.00011818
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_14.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd1fce627591af355f425a3710c3bd45a930ea6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_14.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01072227 0.02545515 0.00055655
+v 0.01072227 0.02509368 0.00550708
+v 0.01162385 0.02480662 0.00550708
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+v 0.01457281 0.02363738 0.00550708
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+v 0.01989729 0.02134565 0.00382927
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+v 0.02087519 0.01987601 0.00055653
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+v 0.02080542 0.02047302 0.00055654
+v 0.02177787 0.01897092 0.00550706
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_15.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f69fd91bb6f557f0afc556fd8672d502e24635
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_15.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.00251144 -0.01475327 -0.00610897
+v 0.02002410 -0.01475327 -0.00610897
+v 0.00251144 -0.01475329 0.00055641
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_16.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f646137b0179dc29c121a147766a25a5741edfab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_16.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00240284 0.03012224 -0.00926114
+v 0.00232497 0.03012224 -0.00726858
+v 0.00233816 0.03012225 -0.01129278
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_17.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a529cf5f2af23d1f8b9101988e53f8c9f1d2a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_18.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6aa389afedd437cf8038e365959d7d6f25c55ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_18.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_19.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4592bac0e7639cbb177547474da75e3e3bb1415
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_19.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_2.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2bfa22f4e4677022974030f74795af750b89746
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_20.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bab753761b9d19318306dda92085db427614834
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_21.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe22d361a3f89108d937f8040e8c626ef0b59cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_21.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_22.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d8bfcb66c69c615b26e57c0421d72200d3cd9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_23.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7cb8e00f3307cac26dac056c5d0a37de094483c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_23.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_24.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4e38ab15e4d176ac60c6e5cb18590b3b5bdfdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_24.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_3.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3231e8ebd0ae4d711fa0299ebd8149492e3ef76c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_3.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_4.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488e97d551618581e230df482978490c2fe02cf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_4.obj
@@ -0,0 +1,82 @@
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_5.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12de9d07138a9aa88deeb17761d30d8f4818b5ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_5.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_6.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237451468c3b2786df4428eed2fc5a92d9b3453b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_6.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_7.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3a802910727e84441bac11d185eb98ecb048fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_7.obj
@@ -0,0 +1,931 @@
+# https://github.com/mikedh/trimesh
+v 0.01072227 0.00098030 0.05598105
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_8.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5da6e187bc1a1876185aecfd2c2f6f7e5b21b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_9.obj b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f78950d270d0b143cd4b3477efb3398cff6996
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..57783259d03bdd9f15b4f9ab278b0268393d2ba8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/mjcf/mesh/baby_bottle_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10886784
diff --git a/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/textures/material_0.png b/dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/textures/material_0.png
new file mode 100644
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