diff --git a/.gitattributes b/.gitattributes
index 4315172ee4d7ece1451470922203194ee8bd3e0e..879cfe9f882c27cf07356575ee0c7f68ecec7589 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4756,6 +4756,6 @@ dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/thermos_004.usd f
 dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9204005919e058f5a1dcb213deec0c56/9204005919e058f5a1dcb213deec0c56.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9204005919e058f5a1dcb213deec0c56/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9204005919e058f5a1dcb213deec0c56/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.urdf b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc18bd4287719bb3cc27f36f6a8a04d1126f9681
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="water_bottle">
+   <link name="water_bottle">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/water_bottle.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/water_bottle_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.275000</scale>
+         <version>v0.1.7</version>
+         <category>water bottle</category>
+         <description>blue plastic bottle with rounded base and screw cap</description>
+         <min_height>0.25</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.275</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120025226</generate_time>
+         <gs_model>mesh/water_bottle_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.637911319732666</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.usd b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e35b42d31169c9be7723ecb8908389c6a6d5a2e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/9451044b73295f0aadc05c5be170dee3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fecc717be12a73f9c882728f804e551c994e67b904b74116bea036297c3fd6f
+size 676858
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/material.mtl b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/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/9451044b73295f0aadc05c5be170dee3/mesh/material_0.png b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d093b5109e77a6acddb7f38d22c8426c0772bf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0bbdb152d824cdb85e06897d97d22e2d6e62a89cb800dc5109e5518d42bde1
+size 1547238
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.glb b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2843a14daeaa9271fc2f9333046f3e9321d9e70c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5855d7cdc82635eaba9498886f4d91af489c20f88d65756226aa9f9f63a3a4f1
+size 2003864
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8697130abdd0fddd4f1e779c120ac442b6f5cdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle.obj
@@ -0,0 +1,41662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f6a9815e444fa05506d53ad924dc3889b22c76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_gs.ply b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4065dcebd3e0b2c67000ee96648301ce0457794b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mesh/water_bottle_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8778a58507ce2a7365cd9a14dcd82d9843634c960e027e700108698ba4d591
+size 1746217
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/9451044b73295f0aadc05c5be170dee3.xml b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/9451044b73295f0aadc05c5be170dee3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..52c4cfb64400eb0162320cd7c004b0dff2abef84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/9451044b73295f0aadc05c5be170dee3.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="water_bottle">
+  <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/water_bottle.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/water_bottle_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/water_bottle_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/water_bottle_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/water_bottle_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/water_bottle_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/water_bottle_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/water_bottle_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/water_bottle_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/water_bottle_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/water_bottle_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/water_bottle_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="water_bottle">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d093b5109e77a6acddb7f38d22c8426c0772bf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0bbdb152d824cdb85e06897d97d22e2d6e62a89cb800dc5109e5518d42bde1
+size 1547238
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fad82741e83f54d18a9d03770aee314eab0f88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle.obj
@@ -0,0 +1,41662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3fb18d5791dfbc8fef4ece5a492d66fe50bcb7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision.obj
@@ -0,0 +1,12961 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_0.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a013543f83111384ba045fdf5d3c6ea4937ae57a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_1.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0e1821c85bbef725ac962bc080503c10f19190
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_10.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4221c0fd5dd501d7359932a795d34ab9ba9699ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_10.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_2.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb5be9671643a467e6a87c0b032ff8e68144d26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_2.obj
@@ -0,0 +1,874 @@
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_3.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9819cf45e5c3da0f8928413d7c83cade1b10d1f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_4.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad3ee9075328c110256da2d6aaa6107bf1184b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_5.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bfb35d3c87caa91d198ceeed58265aae99bce5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_6.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5072318257e6e60f840698fbe0fe508b54368c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_7.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b7dea38d99a0d55ea3f75c55247e356969f2c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_7.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00215092 0.01145980 -0.13261578
+v 0.00223733 0.01145980 -0.13437345
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+
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_8.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1f4542ea99a4d8aa06390f84f4dccdc83aadf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_8.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00215441 -0.00588877 -0.07026426
+v -0.00215441 0.02427509 -0.07026415
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+
diff --git a/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_9.obj b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f29fa0f641cfe54bba231dfb01558888e92dbe2c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/mjcf/mesh/water_bottle_collision_9.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
+v 0.03924472 -0.00588593 -0.07026435
+v 0.03946394 -0.00471314 -0.07026435
+v 0.02007314 -0.00588593 -0.07026435
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