diff --git a/.gitattributes b/.gitattributes
index ae6aefe93a3bf4018cb53bc485b00ec06ebc5a3d..c061efea849690d555c20b1b1a87675d5eb19dc9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4689,3 +4689,7 @@ dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teap
dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/463c9a9441735e50a54d23f9d8506bed/mesh/thermos_039.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/463c9a9441735e50a54d23f9d8506bed/thermos_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/baby_bottle_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/baby_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/baby_bottle_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/baby_bottle_001.urdf b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/baby_bottle_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a7e96e35fccb3808f2af3bd8e371a55b884d16e1
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/baby_bottle_001.usd b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/baby_bottle_001.usd
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/baby_bottle_001_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/baby_bottle_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..73b75d824d63aa5a182d54bc720fdabf451cdee2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/baby_bottle_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec77d2e550b6101d22f185e8fde096695e534c0322d78fe2b60581c79a24fb0e
+size 9301930
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/material.mtl b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b86c0f35bac3799fe4af46d6baf08ef2b32e3354
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/material_0.png b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..73b75d824d63aa5a182d54bc720fdabf451cdee2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec77d2e550b6101d22f185e8fde096695e534c0322d78fe2b60581c79a24fb0e
+size 9301930
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/baby_bottle_001.xml b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/baby_bottle_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..23628885761d01fdb13dad71b6445de53e4ba75d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/baby_bottle_001.xml
@@ -0,0 +1,170 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de776e0873718ff98d568a9c5ef6aa7b9af99a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4ab2db50c94ffcec14441f593adbf887fd0598f625ff60a820e28a9a306636
+size 70422057
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52409e8f5444390419d9974cd844345f927630e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision.obj
@@ -0,0 +1,17084 @@
+# https://github.com/mikedh/trimesh
+
+o baby_bottle_001_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_0.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ba03638a5e07c5577d3efdea418d0d7e4a1c3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_0.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_1.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6d6bb6946a36253324e1d7958b645f342aff61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_1.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_10.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9708e6da3d076f4f322c919a944b0dc83879f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_11.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da151b9a4cd8ef7c32bca1634de625d0568a6cb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_11.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_12.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff5ab72211caa078c23213ca390441f37742d1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_12.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.00323682 -0.02372204 0.02988794
+v -0.00015812 -0.02391104 0.02988794
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_13.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0917177903df5fd9b596183f3bf8267f599eab7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02425238 0.00001380 -0.01183132
+v 0.02141146 0.01088028 -0.01183128
+v 0.02621722 0.00001380 -0.01183132
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_14.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..611db53bf0a4f64cfcbd27f2cb283f45f1d8306c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_14.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_15.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43ee36f951102cc0d3e8bc1e05c1d8adeb672cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_15.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_16.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c303ca2fee2ad52a04fce53f5d9dee71b14b6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_16.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.02907056 -0.00106833 -0.04785571
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_17.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10b6a998e84fee3bd53819659dd4105411ce88b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.00006379 -0.02633136 -0.01183142
+v -0.00006379 -0.02430133 -0.01263534
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_18.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc593967ccc6d2fbe2e664e6353dd21e8c76737
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_18.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v 0.02088248 -0.01734620 -0.04784883
+v 0.02546170 -0.01486759 -0.04784882
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_19.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206500e17a8c6b25f8cb86cb2755dae4f4c8f49b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_19.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.01022164 0.02423341 -0.01183575
+v -0.01100826 0.02394146 -0.01183575
+v -0.01022164 0.02181983 -0.01183576
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+v -0.01022164 0.02758304 -0.04570047
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+v -0.01740571 0.02369601 -0.04355228
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_2.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceec93ba8a39ebd393fd538cfa025fdd063ea446
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_20.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f75fa9c38e280114ce5f957cefc9f26e6fd622fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_20.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_21.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8de9a95710def07d77cee181d525a17a32f9cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_21.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_22.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b76077bb917aba4c09ce936dbd1d845aa29fcd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_22.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_23.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7f4c97a3f707f6cd6565d69325392c31c47cdd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_23.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_24.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063d2c4cdc14b0b61ec7fbd131ea3e71ae8ded17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.01777410 -0.01610630 -0.01183138
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_25.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fef26e5b2136b450cb99aea7bced3b284eaed75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_25.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_26.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503e7f54accd815c759f06afb3ae72e639e6e466
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_26.obj
@@ -0,0 +1,370 @@
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_27.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3f140b61b21cb15a6d1d391cd8ca69246459c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.00015812 0.02455159 -0.00703934
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_28.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b361cdc8a6356fb2534c14d167fa82b16f2fa242
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_29.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad50dc37d18caa1698bffa3b5f7aa636194dc73a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_29.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.01063659 -0.02345626 0.01005603
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_3.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba11b0e89f21a31f53d353cbac8948ff039b5552
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_3.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_30.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb61b1e723de5ca770e009bc0ab1ac9ba6f856d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_31.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4cbdd8013878ad380bd7945e4d95c7f1b9c7367
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_31.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00828216 0.00108464 0.05037539
+v 0.00824912 0.00001357 0.05037539
+v 0.00758652 0.00323484 0.05037540
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_32.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9257c326e7ba60513b12db3a12dbb192297e4bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_32.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01503833 -0.02270584 0.01247910
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_33.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d73de19e7f38465c285b32b6f0ca30f241ffc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_33.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02519541 0.01524141 -0.04698926
+v 0.02375181 0.01751082 -0.04698926
+v 0.02374346 0.01750024 -0.04570215
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_34.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d018466d8449370c32bec693269c11ef5c7e9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00798942 0.01881221 0.01671313
+v -0.00015812 0.02053150 0.01658868
+v 0.00798942 0.01925685 0.01568346
+v 0.00798942 0.01881411 0.01802342
+v 0.00625640 0.01916696 0.01770660
+v 0.00625640 0.01916697 0.01756403
+v -0.00015812 0.02112436 0.01531460
+v -0.00015812 0.02164355 0.03109915
+v -0.00015812 0.02646396 0.00798018
+v 0.00798942 0.02495217 0.00798017
+v 0.00798942 0.01994146 0.03109914
+v -0.00015812 0.02376828 0.03109916
+v -0.00015812 0.02858009 0.00798018
+v 0.00798942 0.02730831 0.00798018
+v 0.00798942 0.02228422 0.03109915
+v 0.00103179 0.02376924 0.03109916
+v -0.00015812 0.02621243 0.02302925
+v -0.00015812 0.02857818 0.00799602
+v 0.00103179 0.02857818 0.00799602
+v 0.00103179 0.02857914 0.00798018
+v 0.00670221 0.02781798 0.00798018
+v 0.00798942 0.02730736 0.00799375
+v 0.00794875 0.02229760 0.03109915
+v 0.00798942 0.02492917 0.02295908
+v 0.00587039 0.02546943 0.02357236
+v 0.00310935 0.02359234 0.03109916
+v 0.00316438 0.02571613 0.02425353
+v 0.00103179 0.02621051 0.02302925
+v 0.00316438 0.02842136 0.00799602
+v 0.00104774 0.02857818 0.00798018
+v 0.00529617 0.02810676 0.00798018
+v 0.00529617 0.02810580 0.00799602
+v 0.00670062 0.02781703 0.00799602
+v 0.00742796 0.02245538 0.03109915
+v 0.00646934 0.02562530 0.02214213
+v 0.00727962 0.02517683 0.02292740
+v 0.00521403 0.02574196 0.02292740
+v 0.00444840 0.02563581 0.02415622
+v 0.00417325 0.02342882 0.03109916
+v 0.00374020 0.02352062 0.03109916
+v 0.00316438 0.02604126 0.02302925
+v 0.00317953 0.02842041 0.00798018
+v 0.00316438 0.02842232 0.00798018
+v 0.00640952 0.02774053 0.00911621
+f 1 2 3
+f 1 3 10
+f 1 10 14
+f 1 14 22
+f 1 22 24
+f 1 24 15
+f 1 15 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 5
+f 2 5 8
+f 2 8 12
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+f 2 18 13
+f 2 13 9
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+f 4 11 8
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+f 8 16 12
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+f 9 43 42
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+f 9 21 14
+f 9 14 10
+f 12 16 17
+f 13 18 19
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+f 14 21 22
+f 15 24 25
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+f 16 27 28
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+f 17 28 19
+f 17 19 18
+f 19 29 30
+f 19 30 20
+f 19 28 29
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+f 22 33 24
+f 23 25 34
+f 24 35 36
+f 24 36 25
+f 24 33 35
+f 25 36 35
+f 25 35 37
+f 25 37 38
+f 25 38 39
+f 25 39 34
+f 26 40 38
+f 26 38 27
+f 27 38 41
+f 27 41 28
+f 28 41 29
+f 29 32 42
+f 29 42 43
+f 29 43 30
+f 29 41 32
+f 31 42 32
+f 32 44 33
+f 32 41 37
+f 32 37 44
+f 33 44 35
+f 35 44 37
+f 37 41 38
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_35.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa4adc7b3b9bd31aa48746e0f2baedf8610a168e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_35.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00878422 0.01844798 0.01712965
+v -0.00878422 0.01849063 0.01664802
+v -0.00015896 0.02053176 0.01658860
+v -0.00878422 0.01978488 0.02891608
+v -0.00878422 0.01909563 0.01543474
+v -0.00015896 0.02112486 0.01531589
+v -0.00015896 0.02086302 0.01587744
+v -0.00015896 0.02201049 0.02891609
+v -0.00878422 0.02217314 0.02891609
+v -0.00878422 0.02473803 0.00798089
+v -0.00015896 0.02646376 0.00798090
+v -0.00015896 0.02392764 0.02891610
+v -0.00878422 0.02431942 0.02388878
+v -0.00455773 0.02352695 0.02891610
+v -0.00594601 0.02546793 0.02356087
+v -0.00878422 0.02707075 0.00798090
+v -0.00015896 0.02857928 0.00798090
+v -0.00110053 0.02392764 0.02891610
+v -0.00015896 0.02579920 0.02434786
+v -0.00878422 0.02467648 0.02298907
+v -0.00417181 0.02359539 0.02891610
+v -0.00452479 0.02563852 0.02415931
+v -0.00528734 0.02574267 0.02291938
+v -0.00653037 0.02562266 0.02212829
+v -0.00734358 0.02517635 0.02291938
+v -0.00878422 0.02706976 0.00799729
+v -0.00676091 0.02781559 0.00798090
+v -0.00110053 0.02858027 0.00798090
+v -0.00015896 0.02857829 0.00799729
+v -0.00110053 0.02579920 0.02434786
+v -0.00323362 0.02571985 0.02425563
+v -0.00323362 0.02373623 0.02891610
+v -0.00015896 0.02621180 0.02303006
+v -0.00110053 0.02621378 0.02303006
+v -0.00647379 0.02773922 0.00911220
+v -0.00675837 0.02781460 0.00799729
+v -0.00323362 0.02604617 0.02303006
+v -0.00536503 0.02810123 0.00799729
+v -0.00536503 0.02810321 0.00798090
+v -0.00323362 0.02842158 0.00798090
+v -0.00323362 0.02842059 0.00799729
+v -0.00110053 0.02857829 0.00799729
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 20
+f 1 20 26
+f 1 26 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 11
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+f 3 33 19
+f 3 19 12
+f 3 12 8
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+f 4 8 12
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+f 4 32 21
+f 4 21 14
+f 4 14 9
+f 5 10 11
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+f 20 25 24
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+f 20 36 26
+f 21 32 22
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+f 22 31 37
+f 22 37 23
+f 23 37 38
+f 23 38 35
+f 23 35 24
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+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 34
+f 29 34 33
+f 30 34 31
+f 31 34 37
+f 34 42 41
+f 34 41 37
+f 35 38 39
+f 35 39 36
+f 37 41 38
+f 38 41 39
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_36.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec37e46d63de18dca38fb34c2e87df503aad05c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_36.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01854956 -0.00887843 0.01666255
+v -0.01890762 -0.00887843 0.01586315
+v -0.02061159 0.00005394 0.01658757
+v -0.01921761 -0.00637167 0.01767413
+v -0.01868003 -0.00887844 0.01812847
+v -0.01913913 -0.00887843 0.01544952
+v -0.02117861 0.00005394 0.01533810
+v -0.02069694 0.00005394 0.01738054
+v -0.01980424 -0.00887848 0.02988800
+v -0.02471998 -0.00887840 0.00799346
+v -0.02648183 0.00005397 0.00799349
+v -0.02079112 0.00005393 0.01825495
+v -0.02105794 -0.00552535 0.02988801
+v -0.02226848 -0.00887848 0.02988800
+v -0.02704590 -0.00887840 0.00799346
+v -0.02856839 0.00005222 0.00799349
+v -0.02856839 0.00005397 0.00799563
+v -0.02292771 0.00005391 0.02483017
+v -0.02245193 -0.00518697 0.02988801
+v -0.02268246 -0.00746553 0.02988800
+v -0.02555970 -0.00615836 0.02384644
+v -0.02477491 -0.00887845 0.02304917
+v -0.02783167 -0.00669602 0.00799561
+v -0.02783167 -0.00669602 0.00799347
+v -0.02569998 -0.00667072 0.02241481
+v -0.02857036 -0.00106957 0.00799349
+v -0.02857036 -0.00106695 0.00799563
+v -0.02637490 -0.00106700 0.02302991
+v -0.02637098 0.00005392 0.02302991
+v -0.02446688 0.00005391 0.02508735
+v -0.02353788 -0.00418934 0.02859569
+v -0.02589030 0.00005391 0.02438653
+v -0.02353788 -0.00457056 0.02859569
+v -0.02581672 -0.00320043 0.02432651
+v -0.02571274 -0.00473666 0.02421720
+v -0.02585694 -0.00540116 0.02308990
+v -0.02528601 -0.00741566 0.02308989
+v -0.02775908 -0.00642060 0.00909291
+v -0.02810831 -0.00533204 0.00799561
+v -0.02810733 -0.00533378 0.00799347
+v -0.02842125 -0.00320212 0.00799348
+v -0.02842125 -0.00320037 0.00799562
+v -0.02621598 -0.00320042 0.02302990
+v -0.02589226 -0.00106701 0.02439082
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 22
+f 1 22 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 3 11 17
+f 3 17 29
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+f 10 16 11
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+f 14 20 21
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+f 18 30 19
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+f 20 34 35
+f 20 35 21
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+f 21 36 25
+f 21 25 37
+f 21 37 22
+f 22 37 25
+f 23 38 39
+f 23 39 24
+f 23 25 38
+f 24 39 40
+f 25 36 38
+f 26 41 42
+f 26 42 27
+f 27 42 28
+f 28 43 34
+f 28 34 44
+f 28 44 32
+f 28 32 29
+f 28 42 43
+f 31 32 44
+f 31 44 33
+f 33 44 34
+f 34 43 35
+f 35 43 36
+f 36 43 39
+f 36 39 38
+f 39 42 41
+f 39 41 40
+f 39 43 42
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_37.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e110fc2e09b3556e20a5115bcf1a05b6ca798f09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_37.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01502772 0.01421062 0.03326110
+v 0.01502772 0.01790627 0.03326112
+v 0.01502772 0.01546920 0.02798029
+v 0.02074242 0.00001364 0.03326105
+v 0.01524755 0.01773531 0.03326112
+v 0.01502772 0.01835549 0.03162301
+v 0.01502772 0.01859377 0.02798030
+v 0.02210395 0.00001366 0.02798023
+v 0.02354703 0.00001364 0.03326105
+v 0.01546472 0.01756617 0.03326111
+v 0.01502772 0.01853556 0.02947574
+v 0.01571203 0.01778078 0.03162301
+v 0.01581397 0.01786081 0.02947574
+v 0.01547447 0.01821002 0.02798030
+v 0.02408243 0.00001366 0.02798023
+v 0.02356920 0.00001364 0.03319747
+v 0.02356920 0.00106668 0.03319540
+v 0.02354615 0.00093755 0.03326105
+v 0.01653107 0.01657496 0.03326111
+v 0.01677838 0.01681685 0.03162300
+v 0.01688032 0.01691689 0.02947573
+v 0.01585208 0.01788446 0.02798030
+v 0.01691844 0.01695509 0.02798029
+v 0.02406115 0.00001366 0.02838756
+v 0.02408243 0.00106670 0.02798023
+v 0.02370659 0.00001364 0.03240090
+v 0.02383955 0.00106668 0.03162294
+v 0.02350271 0.00272536 0.03297366
+v 0.02343180 0.00235798 0.03326106
+v 0.02354526 0.00106668 0.03326105
+v 0.02384044 0.00001364 0.03162294
+v 0.01754070 0.01550737 0.03326111
+v 0.01775610 0.01575108 0.03162300
+v 0.01783853 0.01585112 0.02947573
+v 0.01786424 0.01588750 0.02798029
+v 0.02400265 0.00001365 0.02947567
+v 0.02395390 0.00255260 0.02798024
+v 0.02400177 0.00106669 0.02947567
+v 0.02380144 0.00320006 0.02947568
+v 0.02360643 0.00334191 0.03174960
+v 0.02392287 0.00001365 0.03053535
+v 0.02335202 0.00296180 0.03326106
+v 0.02333873 0.00414760 0.03254980
+v 0.02320045 0.00365837 0.03326106
+v 0.01882245 0.01450707 0.03162299
+v 0.01942787 0.01318304 0.03326110
+v 0.01890489 0.01463985 0.02947572
+v 0.01893060 0.01467987 0.02798028
+v 0.01818867 0.01552012 0.02798029
+v 0.02389274 0.00320007 0.02798024
+v 0.02348410 0.00454046 0.03111793
+v 0.02217044 0.00746678 0.03326108
+v 0.02275724 0.00532068 0.03326107
+v 0.01960870 0.01344130 0.03162299
+v 0.01970000 0.01357225 0.02947572
+v 0.02106153 0.01029490 0.03326109
+v 0.02118829 0.01057680 0.03236321
+v 0.01972571 0.01361410 0.02798028
+v 0.02358515 0.00490422 0.02798025
+v 0.02353551 0.00476053 0.02947569
+v 0.02194440 0.00959652 0.02947571
+v 0.02247004 0.00746678 0.03162297
+v 0.02170241 0.00975838 0.03163746
+v 0.02198695 0.00801422 0.03326108
+v 0.02073711 0.01156801 0.03163746
+v 0.02133366 0.01074777 0.03093135
+v 0.02076636 0.01189539 0.02947571
+v 0.02079118 0.01194996 0.02798027
+v 0.02156945 0.00923458 0.03326108
+v 0.02201000 0.00959653 0.02798027
+v 0.02141876 0.01088419 0.02798027
+v 0.02137798 0.01082962 0.02947571
+v 0.02123261 0.01120792 0.02798027
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 30
+f 1 30 29
+f 1 29 42
+f 1 42 44
+f 1 44 53
+f 1 53 52
+f 1 52 64
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+f 43 52 53
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+f 45 54 55
+f 45 55 47
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+f 47 58 48
+f 50 59 60
+f 50 60 51
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+f 51 61 62
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+f 54 57 65
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+f 54 67 55
+f 55 67 68
+f 55 68 58
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+f 67 73 68
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_38.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421501f733e4b159bd7a7457d9eed6eaf961d07b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_38.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01502703 0.01396682 0.01658865
+v 0.01443591 0.01448137 0.01801209
+v 0.00798942 0.01881464 0.01802342
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_39.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df38b80ed839fb6b82d8075eba80635b8dbc3187
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_39.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_4.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18bfbcaba6c1fb7a856c00cc3c799f5b5958dff7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_4.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_40.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5830a7a279aadec5e129bf03d282d01573b57e68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_40.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00006271 0.02456884 -0.05802518
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_41.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f46513735a42169162238ce6c03742ae3d036d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_41.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_42.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a351e60243121b20a3be5af3910251e2e959ee7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_42.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_43.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece2b7a316fdf21d12f8c34686e84774f99fc1c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_43.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_44.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2165f0b81fd949881e31c21059f1fe804b0c432f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_44.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_45.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe273dd74b31acef12aa5507aa959f9bb521c55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_45.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_46.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..828c4779666617a8680391974b43ad03fd7d6bd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_46.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_47.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078b5dabc932e047c33d0063aaa2549c90574325
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_47.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_48.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b1b71049bb734cadcbea044fce346b0198549f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_48.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00730881 -0.00795479 0.04511084
+v -0.00015812 -0.00795479 0.04706272
+v -0.00730881 -0.00795480 0.04796425
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+v -0.00015812 -0.00795481 0.05084724
+v -0.00592291 -0.00795480 0.04870265
+v -0.00115135 -0.00656492 0.05485595
+v -0.00205988 -0.00635091 0.05485595
+v -0.00297402 -0.00590171 0.05485595
+v -0.00309161 -0.00583822 0.05485595
+v -0.00477359 -0.00473915 0.05485595
+v -0.00587601 -0.00306859 0.05485596
+v -0.00594531 -0.00294081 0.05485596
+v -0.00638908 -0.00203851 0.05485596
+v -0.00660186 -0.00111818 0.05485597
+v -0.00730881 -0.00109308 0.05237271
+v -0.00685524 0.00005382 0.04826766
+v -0.00730881 0.00005381 0.05234314
+v -0.00015812 -0.00727592 0.04775342
+v -0.00015812 -0.00656570 0.05485595
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+v -0.00112335 -0.00795481 0.05085010
+v -0.00663616 0.00005380 0.05485597
+v -0.00605520 0.00005382 0.04934186
+v -0.00015812 -0.00680478 0.04824855
+v -0.00015812 -0.00442166 0.05485595
+v -0.00446141 0.00005380 0.05485597
+v -0.00015812 -0.00601850 0.04932276
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+v -0.00448241 0.00005380 0.05452779
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+v -0.00459790 0.00005381 0.05293462
+v -0.00015812 -0.00522125 0.05095505
+v -0.00015812 -0.00483791 0.05214850
+f 1 2 6
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+f 1 4 2
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+f 33 36 34
+f 34 36 35
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_49.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378f68666476ad057b3d37280d11dd04347f8017
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_49.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.02629347 0.00005404 -0.01183132
+v -0.02629276 0.00057498 -0.01183132
+v -0.02432632 0.00005404 -0.01183132
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+v -0.02832757 0.00106635 0.00154972
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+v -0.02440174 0.00005403 -0.00918717
+v -0.02861161 0.00005399 0.00369908
+v -0.02612361 0.00319973 -0.01183131
+v -0.02816617 0.00319968 0.00154973
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+v -0.02845232 0.00319968 0.00369909
+v -0.02399506 0.01082723 -0.01183128
+v -0.02205117 0.01082722 -0.00703975
+v -0.02453847 0.00005403 -0.00703979
+v -0.02446658 0.00005403 -0.00816791
+v -0.02870888 0.00005398 0.00584646
+v -0.02870747 0.00106634 0.00584646
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+v -0.02565420 0.00651310 -0.01058245
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+v -0.02779966 0.00657525 0.00838770
+v -0.02639144 0.01082716 0.00800179
+v -0.02653522 0.01082717 0.00584650
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_5.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3151cae7b59164850fba060aeebf15b71c731dde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_5.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.01503833 -0.02446523 0.00584701
+v 0.01575255 -0.02403012 0.00584701
+v 0.01562625 -0.02394605 0.00799345
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+v 0.01566425 -0.02397406 0.00369819
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+v 0.01669255 -0.02319328 0.00799345
+v 0.01673055 -0.02321061 0.00369819
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+v 0.01622423 -0.02070535 -0.01183140
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_50.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068ececbe07f61afd525eca62ebc8b20959a02ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_50.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00015812 -0.02856019 0.00799226
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+v 0.00103242 -0.02855827 0.00799684
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_51.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cd96b0743c85fd2c73f556252502021b58ce4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_51.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v 0.00956076 0.02446527 -0.01183123
+v 0.01098886 0.02142345 -0.01183124
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_52.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c248bf58983ff1ad6175ad157b09d0347a18c31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_52.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01502772 0.00001359 0.04502291
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+f 19 38 37
+f 19 37 36
+f 19 36 35
+f 19 35 31
+f 21 33 22
+f 22 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
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+f 26 28 27
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 31 35 34
+f 32 46 47
+f 32 47 48
+f 39 49 40
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 42
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 45
+f 43 45 44
+f 45 56 57
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+f 46 58 57
+f 46 57 47
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+f 47 59 60
+f 47 60 48
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+f 54 62 63
+f 54 63 55
+f 55 63 56
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+f 56 59 57
+f 59 63 60
+f 60 63 62
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_53.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1807d4b975689bc81ca3f30ef1e9ff4f3704c20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_53.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00110073 -0.02814847 0.01005602
+v -0.00315082 -0.02799537 0.01005602
+v -0.00015812 -0.02814654 0.01005602
+v -0.00015812 -0.02625453 0.02302946
+v -0.00110073 -0.02625453 0.02302946
+v -0.00368395 -0.02793086 0.01005602
+v -0.00323325 -0.02608891 0.02302946
+v -0.00015812 -0.02579038 0.01005603
+v -0.00015812 -0.02581739 0.02436700
+v -0.00110073 -0.02581739 0.02436700
+v -0.00323325 -0.02573844 0.02427770
+v -0.00478067 -0.02774599 0.01005602
+v -0.00532903 -0.02577309 0.02298482
+v -0.00459609 -0.02565178 0.02417481
+v -0.00931183 -0.02404661 0.01005603
+v -0.00931183 -0.01898767 0.01535375
+v -0.00015812 -0.02112815 0.01531686
+v -0.00015812 -0.02391188 0.02988794
+v -0.00110073 -0.02391188 0.02988794
+v -0.00323683 -0.02372219 0.02988794
+v -0.00536487 -0.02762659 0.01005602
+v -0.00660048 -0.02564407 0.02223744
+v -0.00601628 -0.02549001 0.02367009
+v -0.00457638 -0.02352480 0.02988794
+v -0.00931183 -0.02654913 0.01005602
+v -0.00931183 -0.01846483 0.01627779
+v -0.00015812 -0.02054272 0.01658838
+v -0.00015812 -0.02197746 0.02988795
+v -0.00575016 -0.02754089 0.01005602
+v -0.00738539 -0.02520692 0.02298482
+v -0.00931183 -0.02453868 0.02302365
+v -0.00856903 -0.02678215 0.01005602
+v -0.00732177 -0.02715382 0.01005602
+v -0.00921954 -0.02205545 0.02988795
+v -0.00931183 -0.02202560 0.02988795
+v -0.00931183 -0.01831173 0.01661557
+v -0.00931183 -0.01954234 0.02988796
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 29
+f 1 29 33
+f 1 33 32
+f 1 32 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
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+f 22 30 31
+f 22 31 25
+f 22 25 32
+f 22 32 33
+f 22 33 29
+f 23 31 30
+f 23 24 34
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+f 23 35 31
+f 26 36 27
+f 27 36 37
+f 27 37 28
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_54.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b084e18fd67406817fc9f835b9cbef9fb9ee7246
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_54.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01603927 0.01284489 0.01726489
+v -0.00878507 0.01844851 0.01712965
+v -0.00878507 0.01978531 0.02891608
+v -0.01031260 0.01901384 0.02891608
+v -0.01603927 0.01581378 0.02477411
+v -0.01603927 0.01285743 0.01658857
+v -0.00878507 0.01849029 0.01664802
+v -0.00878507 0.02217214 0.02891609
+v -0.01078415 0.01895396 0.02891608
+v -0.01156105 0.01895396 0.02891608
+v -0.01603927 0.01588897 0.02479461
+v -0.01603927 0.01410515 0.01518674
+v -0.00878507 0.02473869 0.00798089
+v -0.00878507 0.01909605 0.01543474
+v -0.00878507 0.02431947 0.02388878
+v -0.01094180 0.02357724 0.02423104
+v -0.00963015 0.02192426 0.02891609
+v -0.01167468 0.02026713 0.02891608
+v -0.01603927 0.01811705 0.02504055
+v -0.01603927 0.01595025 0.02480486
+v -0.01603927 0.02076435 0.00799727
+v -0.01603359 0.02077131 0.00798088
+v -0.00878507 0.02707121 0.00798090
+v -0.00878507 0.02467597 0.02298907
+v -0.00963015 0.02438214 0.02303005
+v -0.01128125 0.02374435 0.02303005
+v -0.01500813 0.02136169 0.02413880
+v -0.01081752 0.02139927 0.02891609
+v -0.01117473 0.02106506 0.02891609
+v -0.01603927 0.02005548 0.02440727
+v -0.01603927 0.01997332 0.02443801
+v -0.01603927 0.01812959 0.02503850
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+v -0.00961807 0.02680384 0.00798090
+v -0.00878507 0.02706981 0.00799729
+v -0.00963015 0.02679827 0.00799729
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+v -0.01234719 0.02314556 0.02303005
+v -0.01197294 0.02599616 0.00798090
+v -0.01273138 0.02548649 0.00874943
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+v -0.01603927 0.02083950 0.02303004
+v -0.01603927 0.02079214 0.02322270
+v -0.01603927 0.02369845 0.00798089
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+v -0.01569130 0.02394354 0.00799728
+v -0.01567852 0.02395189 0.00798089
+v -0.01603927 0.02369706 0.00799728
+v -0.01570053 0.02393797 0.00798089
+v -0.01569414 0.02394215 0.00798089
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+f 1 30 44
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+f 41 48 47
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+f 48 49 52
+f 48 52 51
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_55.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e57098752ab44c07a23ef051652238a42d4030
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_55.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02682693 -0.01218518 -0.04699215
+v -0.02441777 -0.01218518 -0.04699215
+v -0.02681167 -0.01218518 -0.04570150
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+v -0.02713062 -0.00143160 -0.04699212
+v -0.02135880 -0.01218525 -0.02637270
+v -0.02803406 -0.00937574 -0.04570149
+v -0.02664625 -0.01218519 -0.04355386
+v -0.02860242 -0.00746523 -0.04699214
+v -0.02905881 -0.00143160 -0.04699212
+v -0.02478932 -0.00143167 -0.02852376
+v -0.02075906 -0.01218527 -0.02207741
+v -0.02100252 -0.01218526 -0.02390842
+v -0.02104578 -0.01218526 -0.02422505
+v -0.02858715 -0.00746523 -0.04570149
+v -0.02795517 -0.00913891 -0.04355385
+v -0.02648507 -0.01218520 -0.04191215
+v -0.02873815 -0.00661155 -0.04699213
+v -0.02902318 -0.00320000 -0.04699212
+v -0.02901894 -0.00320000 -0.04570147
+v -0.02905287 -0.00143160 -0.04570147
+v -0.02453398 -0.00143167 -0.02637267
+v -0.02052068 -0.01218528 -0.01982651
+v -0.02892563 -0.00533367 -0.04570148
+v -0.02843022 -0.00746524 -0.04355385
+v -0.02883571 -0.00533368 -0.04355384
+v -0.02381293 -0.01133058 -0.01183136
+v -0.02446697 -0.00959797 -0.01183136
+v -0.02501751 -0.00784956 -0.01183135
+v -0.02579795 -0.00531801 -0.01183134
+v -0.02331243 -0.01218531 -0.01183136
+v -0.02893580 -0.00533367 -0.04699213
+v -0.02897313 -0.00447894 -0.04699213
+v -0.02898670 -0.00320001 -0.04355383
+v -0.02900791 -0.00143161 -0.04355383
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+v -0.02438044 -0.00143168 -0.02386020
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+v -0.02413019 -0.00143171 -0.01563445
+v -0.02039259 -0.01218529 -0.01563448
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_56.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640de0952a9b53a7b9f7428778b2740d47e7a128
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_56.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02672997 0.00962816 0.00838935
+v -0.02600474 0.01176746 0.00838935
+v -0.02438895 0.00962816 0.00838935
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+v -0.02576091 0.01230776 0.00838936
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+v -0.02444965 0.00962811 0.02305819
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+v -0.01603998 0.02360200 0.00838940
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+v -0.02392012 0.01558510 0.00838937
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+v -0.01603998 0.01284529 0.01726272
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+v -0.01603998 0.01595025 0.02480581
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_57.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db898f2d3ed0bb898fac53fe24f6250325899e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_57.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.00060967 0.02633815 -0.01183122
+v -0.00006379 0.02432817 -0.01183123
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+v -0.00006379 0.02902741 -0.04919118
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_58.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e3d27fd4ea98bdc783432d914d07684373a59a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_58.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+v -0.01438180 -0.01610747 0.02988797
+v -0.00931183 -0.02202506 0.02988795
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_59.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d968aaccd4601fda10d75c318efcba1ab76a1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_59.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01503917 -0.00106761 0.04501523
+v 0.01566831 -0.00106760 0.04432749
+v 0.01518159 0.00001360 0.04485589
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_6.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998ee11277d15cb93275d682dc4bd306816cc090
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_6.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00703019 0.00005382 0.04808502
+v -0.00703019 0.00912924 0.04463043
+v -0.00015812 0.00912923 0.04606662
+v -0.00015812 0.00782158 0.04709182
+v -0.00015812 0.00675466 0.04817409
+v -0.00685529 0.00005382 0.04826769
+v -0.00703019 0.00005377 0.06182358
+v -0.00703019 0.00912923 0.04742518
+v -0.00015812 0.00912922 0.04929519
+v -0.00015812 0.00640376 0.04864902
+v -0.00015812 0.00596047 0.04924952
+v -0.00605481 0.00005382 0.04934311
+v -0.00682502 0.00005377 0.06295608
+v -0.00703019 0.00010174 0.06182358
+v -0.00536464 0.00912922 0.04801655
+v -0.00703019 0.00111801 0.06175051
+v -0.00656201 0.00241678 0.06315702
+v -0.00585368 0.00315589 0.06386028
+v -0.00475990 0.00472739 0.06384202
+v -0.00318920 0.00582006 0.06385800
+v -0.00244926 0.00652719 0.06315247
+v -0.00110054 0.00667110 0.06357945
+v -0.00070568 0.00912922 0.04929519
+v -0.00015812 0.00666844 0.06357488
+v -0.00015812 0.00554295 0.05002127
+v -0.00015812 0.00492464 0.05116748
+v -0.00524154 0.00005381 0.05095740
+v -0.00665887 0.00005377 0.06386712
+v -0.00665753 0.00085861 0.06386027
+v -0.00703019 0.00105672 0.06179618
+v -0.00313875 0.00912922 0.04879059
+v -0.00627477 0.00143070 0.06458865
+v -0.00482583 0.00319941 0.06547000
+v -0.00444711 0.00441379 0.06507728
+v -0.00323293 0.00479134 0.06547001
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+v -0.00015812 0.00644545 0.06417538
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+v -0.00642747 0.00005376 0.06490830
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+v -0.00636087 0.00005376 0.06498136
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+v -0.00430585 0.00005375 0.06707058
+v -0.00330625 0.00087903 0.06736283
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+v -0.00090546 0.00327225 0.06735828
+v -0.00015812 0.00425654 0.06705918
+v -0.00015812 0.00106647 0.06794736
+v -0.00110054 0.00005375 0.06795649
+v -0.00429508 0.00005375 0.06707514
+v -0.00331298 0.00005375 0.06736512
+v -0.00110054 0.00106647 0.06794736
+v -0.00015812 0.00214049 0.06766196
+v -0.00015812 0.00327314 0.06735828
+v -0.00015812 0.00410197 0.06711854
+v -0.00015812 0.00416060 0.06710028
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 27
+f 1 27 39
+f 1 39 49
+f 1 49 58
+f 1 58 60
+f 1 60 59
+f 1 59 52
+f 1 52 51
+f 1 51 50
+f 1 50 41
+f 1 41 40
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+f 1 28 13
+f 1 13 7
+f 1 7 14
+f 1 14 30
+f 1 30 16
+f 1 16 8
+f 1 8 2
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+f 2 37 23
+f 2 23 9
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+f 3 9 24
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+f 35 46 36
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+f 42 52 43
+f 42 50 51
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+f 43 53 54
+f 43 54 44
+f 44 54 45
+f 45 54 55
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+f 45 48 46
+f 49 57 58
+f 52 59 53
+f 53 60 58
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+f 53 61 54
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+f 54 61 55
+f 55 61 62
+f 55 62 63
+f 55 63 64
+f 55 64 65
+f 55 65 56
+f 57 61 58
+f 57 62 61
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_60.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf92a63f3bc4bf2bdee55f28ad22a1f03ad3325
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_60.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01819774 0.00962813 0.01658900
+v -0.01847082 0.00962812 0.01821062
+v -0.02079148 0.00005393 0.01825472
+v -0.02061110 0.00005394 0.01658896
+v -0.02090938 0.00005394 0.01593018
+v -0.02117842 0.00005394 0.01533842
+v -0.01893535 0.00962813 0.01530250
+v -0.02041965 0.00962810 0.02441757
+v -0.02292773 0.00005391 0.02482947
+v -0.02637295 0.00005397 0.00838768
+v -0.02438885 0.00962816 0.00838772
+v -0.02049925 0.00962810 0.02444045
+v -0.02239367 0.00962810 0.02478211
+v -0.02446745 0.00005391 0.02508776
+v -0.02849107 0.00005397 0.00838768
+v -0.02673067 0.00962816 0.00838772
+v -0.02242491 0.00962810 0.02477884
+v -0.02242390 0.00959718 0.02478211
+v -0.02387293 0.00959718 0.02441430
+v -0.02580866 0.00320001 0.02430802
+v -0.02588927 0.00106700 0.02438320
+v -0.02589028 0.00005391 0.02438647
+v -0.02637094 0.00005392 0.02303131
+v -0.02848804 0.00106706 0.00838768
+v -0.02779981 0.00657578 0.00838770
+v -0.02568874 0.00663290 0.02236110
+v -0.02446846 0.00959719 0.02303135
+v -0.02445637 0.00962811 0.02303135
+v -0.02385277 0.00962810 0.02441593
+v -0.02386789 0.00962810 0.02441103
+v -0.02570587 0.00469574 0.02420177
+v -0.02619560 0.00320002 0.02303132
+v -0.02636690 0.00106701 0.02303131
+v -0.02833085 0.00317945 0.00838769
+v -0.02797010 0.00572107 0.00838770
+v -0.02775547 0.00640428 0.00907591
+v -0.02584090 0.00537614 0.02305912
+v -0.02547613 0.00611744 0.02379310
+v -0.02444931 0.00962811 0.02305750
+v -0.02825729 0.00377831 0.00838769
+f 1 2 3
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+f 1 5 6
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+f 21 23 22
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+f 30 38 31
+f 30 39 38
+f 31 38 37
+f 31 37 32
+f 32 37 35
+f 32 35 40
+f 32 40 34
+f 32 34 33
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_61.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba7cf85dbd297e4fcf04bab7f43711bb303d7b2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_61.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.02245163 0.00937448 0.01243555
+v 0.01502772 0.01912250 0.01243559
+v 0.02555016 0.00937448 0.01243555
+v 0.01892973 0.00937447 0.01534181
+v 0.01502772 0.02271484 0.01243560
+v 0.01502772 0.01508617 0.01515620
+v 0.02546776 0.00959909 0.01243556
+v 0.02464471 0.00959906 0.02088198
+v 0.02472403 0.00937445 0.02088197
+v 0.01835493 0.00937447 0.01636737
+v 0.01502772 0.01472185 0.01541335
+v 0.01612271 0.02196137 0.01243560
+v 0.01502772 0.02178114 0.02088202
+v 0.01529760 0.02162052 0.02088202
+v 0.02534518 0.00991510 0.01243556
+v 0.02386390 0.01156302 0.02088198
+v 0.02372586 0.01129272 0.02303049
+v 0.02439028 0.00959906 0.02303049
+v 0.02446959 0.00937445 0.02303048
+v 0.01824677 0.00937447 0.01661083
+v 0.01502772 0.01442542 0.01581505
+v 0.01700448 0.02131629 0.01243560
+v 0.01502772 0.02152911 0.02303053
+v 0.01510703 0.02148341 0.02303053
+v 0.01636376 0.02081221 0.02088202
+v 0.02498052 0.01075344 0.01243556
+v 0.02326541 0.01262989 0.02088199
+v 0.02459320 0.01161398 0.01243556
+v 0.02365479 0.01348785 0.01243557
+v 0.02312532 0.01235827 0.02303050
+v 0.02132574 0.01498429 0.02414280
+v 0.02354869 0.01093622 0.02424473
+v 0.02379900 0.00959905 0.02448362
+v 0.02383814 0.00937444 0.02452470
+v 0.01502772 0.01396708 0.01658802
+v 0.01952100 0.00937443 0.02798026
+v 0.01502772 0.01547005 0.02798029
+v 0.01808711 0.02036957 0.01243559
+v 0.01763902 0.01974535 0.02088201
+v 0.01502772 0.02142594 0.02352657
+v 0.01617319 0.02065682 0.02303053
+v 0.01746699 0.01958996 0.02303052
+v 0.02159871 0.01535776 0.02088200
+v 0.02145759 0.01516450 0.02303051
+v 0.02310368 0.01441760 0.01243557
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+v 0.01893076 0.01468263 0.02798028
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+v 0.01502772 0.01859359 0.02798030
+v 0.01820248 0.02026771 0.01243559
+v 0.01870517 0.01874770 0.02088201
+v 0.01925524 0.01929617 0.01243559
+v 0.01502772 0.02121962 0.02418391
+v 0.01722492 0.01937318 0.02426150
+v 0.01853314 0.01857533 0.02303052
+v 0.02078184 0.01642201 0.02088200
+v 0.02265559 0.01507182 0.01243558
+v 0.02190053 0.01616349 0.01243558
+v 0.02126496 0.01703056 0.01243558
+v 0.01691795 0.01695477 0.02798029
+v 0.01786461 0.01588922 0.02798029
+v 0.01818909 0.01552228 0.02798029
+v 0.01971672 0.01768214 0.02088200
+v 0.01585180 0.01788583 0.02798030
+v 0.02021426 0.01824368 0.01243559
+v 0.02033375 0.01810787 0.01243559
+f 1 2 5
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_62.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84bfafc46faffcca3a5f106779838d17b9ed38e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_62.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.02450252 -0.01218514 -0.05802890
+v -0.02557638 -0.01061779 -0.05747463
+v -0.02502403 -0.01116726 -0.05802890
+v -0.02155932 -0.01218514 -0.05802890
+v -0.02501815 -0.01218514 -0.05694305
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+v -0.02542581 -0.01022832 -0.05802890
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+v -0.02455100 -0.00143156 -0.05802887
+v -0.02713062 -0.00143160 -0.04699212
+v -0.02441732 -0.01218518 -0.04699215
+v -0.02515330 -0.01218514 -0.05662648
+v -0.02587239 -0.00910412 -0.05802889
+v -0.02582979 -0.00922622 -0.05802889
+v -0.02698371 -0.00746519 -0.05644387
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+v -0.02603325 -0.01218515 -0.05421925
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+v -0.02787395 -0.00888835 -0.05175582
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+v -0.02677070 -0.00538310 -0.05802888
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_63.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ceb56a27f554827a330d19fc1b4d23ee926d9c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_63.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01279925 -0.01610569 0.01658751
+v -0.01314931 -0.01610569 0.01610101
+v -0.01913948 -0.00887914 0.01544952
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_64.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278b3541f149ee1d74514ca6aa07fb10d65318f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_64.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_65.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3efb5a5ca98d1b7cb17a77e0b7d8064945dfe59f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_65.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01503922 -0.01867529 0.02733507
+v 0.01696176 -0.01700873 0.02733508
+v 0.01503922 -0.01864602 0.02799749
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+f 16 31 18
+f 17 24 28
+f 19 30 32
+f 20 34 33
+f 21 35 36
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 28
+f 29 43 30
+f 30 43 32
+f 33 34 44
+f 34 45 46
+f 34 46 44
+f 35 47 36
+f 36 47 48
+f 37 49 38
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+f 38 51 39
+f 39 52 40
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+f 39 53 54
+f 39 54 52
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+f 45 56 46
+f 46 56 58
+f 46 58 59
+f 46 59 57
+f 47 57 48
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+f 49 61 50
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+f 50 62 51
+f 51 62 63
+f 51 63 54
+f 51 54 53
+f 52 54 64
+f 54 63 65
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 54 68 64
+f 55 69 56
+f 56 69 70
+f 56 70 58
+f 57 59 60
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+f 63 75 65
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+f 70 77 75
+f 70 75 71
+f 71 75 74
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_66.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b928bd8fb4f43cd88e124b55d4241b8732e0fc80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_66.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02242847 -0.00935466 0.01247915
+v 0.02431264 0.00001279 0.01247918
+v 0.02553774 -0.00935466 0.01247915
+v 0.01894706 -0.00935467 0.01535408
+v 0.02714455 0.00001279 0.01247918
+v 0.02110599 0.00001278 0.01533230
+v 0.02609334 -0.00760864 0.01247915
+v 0.02567425 -0.00681819 0.02088289
+v 0.02561774 -0.00662561 0.02234436
+v 0.02475173 -0.00935469 0.02088289
+v 0.01827756 -0.00935467 0.01661340
+v 0.02714542 -0.00106747 0.01247918
+v 0.02653156 0.00001276 0.02088292
+v 0.02081993 0.00001278 0.01596923
+v 0.02610204 -0.00757838 0.01247915
+v 0.02576816 -0.00536561 0.02304818
+v 0.02547514 -0.00609833 0.02377673
+v 0.02519343 -0.00738858 0.02304817
+v 0.02450306 -0.00935469 0.02303218
+v 0.02453871 -0.00935469 0.02272534
+v 0.02601596 -0.00533260 0.02088290
+v 0.01826278 -0.00935467 0.01673846
+v 0.02054343 0.00001278 0.01658871
+v 0.02713585 -0.00119402 0.01247918
+v 0.02653243 -0.00106750 0.02088292
+v 0.02640636 0.00001276 0.02194302
+v 0.02651070 -0.00557008 0.01247916
+v 0.02636462 -0.00320051 0.02088291
+v 0.02611595 -0.00320051 0.02303074
+v 0.02563252 -0.00467693 0.02420280
+v 0.02361184 -0.00499974 0.02733367
+v 0.02214154 -0.00935471 0.02733366
+v 0.02385529 -0.00935470 0.02454017
+v 0.02396572 -0.00935470 0.02433658
+v 0.02655417 -0.00533257 0.01247916
+v 0.02685849 -0.00356637 0.01247917
+v 0.02072689 0.00001277 0.01825230
+v 0.01956352 -0.00935471 0.02733366
+v 0.02692196 -0.00308493 0.01247917
+v 0.02627854 -0.00106750 0.02303075
+v 0.02627680 0.00001276 0.02303075
+v 0.02573164 -0.00320052 0.02431770
+v 0.02393789 -0.00320603 0.02733368
+v 0.02210850 0.00001274 0.02733369
+v 0.02580902 0.00001275 0.02440205
+v 0.02580989 -0.00106751 0.02440350
+v 0.02411788 -0.00107485 0.02733369
+v 0.02212328 0.00001274 0.02733369
+v 0.02411788 0.00001274 0.02732641
+v 0.02411788 0.00000908 0.02733369
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 39
+f 1 39 36
+f 1 36 35
+f 1 35 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 20
+f 1 20 19
+f 1 19 34
+f 1 34 33
+f 1 33 32
+f 1 32 38
+f 1 38 22
+f 1 22 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 23
+f 2 23 37
+f 2 37 44
+f 2 44 48
+f 2 48 49
+f 2 49 45
+f 2 45 41
+f 2 41 26
+f 2 26 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 13 25
+f 5 25 12
+f 6 11 14
+f 7 15 9
+f 7 9 8
+f 9 16 17
+f 9 17 18
+f 9 18 19
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+f 9 20 10
+f 9 15 21
+f 9 21 16
+f 11 22 23
+f 11 23 14
+f 12 25 24
+f 13 26 25
+f 15 27 21
+f 16 21 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 19
+f 17 19 18
+f 21 27 35
+f 21 35 36
+f 21 36 28
+f 22 37 23
+f 22 38 37
+f 24 25 28
+f 24 28 39
+f 25 26 40
+f 25 40 29
+f 25 29 28
+f 26 41 40
+f 28 36 39
+f 29 40 42
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 43 47
+f 31 47 50
+f 31 50 48
+f 31 48 44
+f 31 44 38
+f 31 38 32
+f 37 38 44
+f 40 41 45
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+f 40 46 42
+f 42 46 47
+f 42 47 43
+f 45 49 50
+f 45 50 46
+f 46 50 47
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_67.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcacc93954c4e63044b1894b44739e24dc238992
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_67.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00863264 0.00044380 0.04997826
+v -0.00863264 0.00005737 0.04997826
+v -0.00863264 0.00175412 0.04971055
+v -0.01353524 0.00319948 0.04605422
+v -0.01460169 0.00319948 0.04527707
+v -0.01476920 0.00106655 0.04541321
+v -0.01477048 0.00005383 0.04541474
+v -0.00863392 0.00005382 0.04997673
+v -0.00863264 0.00005382 0.04961263
+v -0.00863264 0.00318348 0.04929443
+v -0.01294192 0.00660720 0.04566565
+v -0.01320533 0.00533153 0.04584312
+v -0.01427178 0.00533153 0.04496958
+v -0.01534718 0.00533154 0.04389563
+v -0.01562083 0.00319949 0.04420312
+v -0.01574359 0.00106656 0.04433926
+v -0.01574614 0.00005384 0.04434079
+v -0.01523338 0.00005384 0.04490530
+v -0.00863264 0.00005383 0.04658660
+v -0.01177828 0.00737651 0.04603283
+v -0.00863264 0.00535284 0.04843161
+v -0.01107755 0.00899420 0.04580182
+v -0.01249820 0.00802945 0.04535205
+v -0.01383702 0.00735876 0.04448004
+v -0.01509911 0.00668805 0.04360649
+v -0.01923192 0.00643134 0.03700063
+v -0.01668600 0.00319949 0.04269775
+v -0.01681004 0.00106656 0.04297158
+v -0.01625251 0.00005384 0.04369367
+v -0.00863264 0.00912924 0.04396907
+v -0.01692640 0.00005387 0.03473798
+v -0.00863264 0.00912923 0.04676562
+v -0.00965178 0.00912923 0.04636021
+v -0.01079751 0.00912923 0.04586760
+v -0.01101745 0.00912923 0.04576817
+v -0.01215678 0.00912923 0.04493746
+v -0.01333576 0.00912924 0.04394765
+v -0.01342655 0.00912924 0.04385280
+v -0.01473212 0.00810941 0.04307564
+v -0.01755809 0.00906530 0.03730049
+v -0.01864244 0.00749382 0.03592057
+v -0.01923065 0.00642779 0.03592056
+v -0.02169474 0.00005387 0.03441059
+v -0.02169474 0.00005387 0.03503782
+v -0.02159500 0.00028839 0.03527036
+v -0.02165254 0.00005387 0.03532544
+v -0.01681259 0.00005384 0.04297464
+v -0.01409148 0.00912927 0.03655699
+v -0.02020375 0.00005387 0.03435093
+v -0.01687397 0.00319952 0.03473340
+v -0.01669495 0.00533157 0.03475023
+v -0.01566303 0.00746450 0.03536065
+v -0.01427050 0.00912924 0.04273296
+v -0.01514898 0.00883521 0.04164524
+v -0.01742638 0.00912926 0.03736169
+v -0.01757599 0.00910973 0.03592057
+v -0.01477304 0.00912925 0.04193285
+v -0.01922553 0.00640381 0.03484508
+v -0.01727293 0.00876860 0.03481144
+v -0.01696860 0.00876860 0.03481144
+v -0.01660800 0.00912927 0.03532088
+v -0.01672948 0.00746450 0.03477931
+v -0.01752100 0.00912927 0.03592363
+f 1 2 9
+f 1 9 19
+f 1 19 30
+f 1 30 32
+f 1 32 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 12 13
+f 6 15 16
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+f 6 17 18
+f 6 18 7
+f 7 18 17
+f 7 17 29
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+f 26 40 41
+f 26 41 42
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+f 26 45 46
+f 26 46 27
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+f 30 31 48
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+f 30 53 38
+f 30 38 37
+f 30 37 36
+f 30 36 35
+f 30 35 34
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+f 30 33 32
+f 31 49 50
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+f 31 52 48
+f 38 53 39
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+f 40 56 41
+f 40 54 57
+f 40 57 55
+f 41 56 58
+f 41 58 42
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+f 44 46 45
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+f 49 51 50
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+f 52 62 60
+f 53 57 54
+f 55 63 56
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+f 56 59 58
+f 59 63 61
+f 59 61 60
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_68.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499f6ff70645ba0eb98b2718fe30aceda4db7247
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_68.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00754197 0.00005377 0.06101776
+v -0.00754197 0.00005377 0.06201776
+v -0.00754197 0.00113868 0.06101776
+v -0.00754197 0.00113868 0.06201776
+v -0.00654197 0.00005377 0.06101776
+v -0.00654197 0.00005377 0.06201776
+v -0.00654197 0.00113868 0.06101776
+v -0.00654197 0.00113868 0.06201776
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_69.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c0e214a3470156a0660d2fd2d53d112010be55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_69.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00885074 0.01549901 0.04016362
+v 0.00916515 0.01534935 0.04016362
+v 0.01130194 0.01958129 0.03527648
+v 0.00935561 0.02027910 0.03548854
+v 0.00885074 0.02090838 0.03511056
+v 0.00885074 0.01251846 0.04016361
+v 0.01020029 0.01466056 0.04016361
+v 0.01272284 0.01916837 0.03479113
+v 0.00885074 0.02148359 0.03396597
+v 0.00885074 0.01363461 0.03590288
+v 0.01502772 0.00357680 0.04016357
+v 0.01382509 0.01768621 0.03540867
+v 0.01026377 0.01461188 0.04016361
+v 0.01381844 0.01867433 0.03395353
+v 0.01310315 0.01943344 0.03335905
+v 0.01188481 0.01991127 0.03395353
+v 0.00999229 0.02097872 0.03377165
+v 0.01502772 0.01722281 0.03502448
+v 0.00892632 0.02151604 0.03377165
+v 0.00885074 0.02154129 0.03377165
+v 0.00885074 0.01383475 0.03556038
+v 0.01502772 0.00603627 0.03643699
+v 0.01502772 0.00968216 0.04016360
+v 0.01188541 0.01331003 0.04016361
+v 0.01502772 0.01776917 0.03381334
+v 0.01444061 0.01884743 0.03162353
+v 0.01337464 0.01962097 0.03162353
+v 0.01150268 0.02072989 0.03150908
+v 0.01047842 0.02118788 0.03214792
+v 0.01264061 0.01268074 0.04016361
+v 0.01328152 0.01192523 0.04016360
+v 0.01458694 0.01032767 0.04016360
+v 0.01463712 0.01026276 0.04016360
+v 0.00968514 0.02168554 0.03150908
+v 0.00885074 0.02195961 0.03155167
+v 0.00885074 0.01437930 0.03475828
+v 0.01502772 0.00646001 0.03591261
+v 0.01502772 0.01835518 0.03162353
+v 0.01447205 0.01886727 0.03110003
+v 0.01421206 0.01905840 0.03110003
+v 0.01340608 0.01964261 0.03110003
+v 0.01107036 0.02104905 0.03110004
+v 0.01061507 0.02130509 0.03110004
+v 0.00966035 0.02172702 0.03110004
+v 0.00885074 0.02199749 0.03110004
+v 0.01019122 0.02151065 0.03110004
+v 0.01502772 0.00729485 0.03501202
+v 0.01502772 0.00690177 0.03540420
+v 0.00885074 0.01959393 0.03110003
+v 0.01502772 0.01839486 0.03110003
+v 0.01502772 0.01527547 0.03110002
+f 1 2 3
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+f 1 4 5
+f 1 5 9
+f 1 9 20
+f 1 20 35
+f 1 35 45
+f 1 45 49
+f 1 49 36
+f 1 36 21
+f 1 21 10
+f 1 10 6
+f 1 6 11
+f 1 11 23
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+f 1 33 32
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+f 1 24 13
+f 1 13 7
+f 1 7 2
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+f 5 8 9
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+f 7 12 8
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+f 15 27 28
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+f 15 17 16
+f 17 29 19
+f 18 24 30
+f 18 30 31
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+f 18 32 33
+f 18 33 23
+f 19 34 35
+f 19 35 20
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+f 21 36 22
+f 22 36 37
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+f 27 42 28
+f 28 42 29
+f 29 42 43
+f 29 43 34
+f 34 44 45
+f 34 45 35
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+f 34 46 44
+f 36 47 48
+f 36 48 37
+f 36 49 47
+f 38 50 39
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+f 39 51 49
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+f 39 45 44
+f 39 44 46
+f 39 46 43
+f 39 43 42
+f 39 42 41
+f 39 41 40
+f 47 49 51
+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_7.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f88b559de70ec324567edf2a5c357db4d116207
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.02906225 -0.00143159 -0.04785220
+v -0.02714193 -0.00143159 -0.04785220
+v -0.02905263 -0.00143160 -0.04570118
+v -0.02906946 -0.00106833 -0.04785219
+v -0.02138577 0.01684946 -0.04785213
+v -0.01776639 0.01684937 -0.02564719
+v -0.01715193 0.01684936 -0.02164487
+v -0.02478992 -0.00143167 -0.02852117
+v -0.02905984 -0.00106655 -0.04570117
+v -0.02900814 -0.00143161 -0.04355368
+v -0.02906946 -0.00106654 -0.04785219
+v -0.02427046 0.01684946 -0.04785213
+v -0.01695593 0.01684935 -0.01993111
+v -0.02453260 -0.00143167 -0.02637368
+v -0.02901295 -0.00106656 -0.04355367
+v -0.02901174 0.00106647 -0.04355367
+v -0.02905744 0.00106648 -0.04570117
+v -0.02906826 0.00106649 -0.04785219
+v -0.02896365 -0.00143162 -0.04177291
+v -0.02553545 0.01487212 -0.04785214
+v -0.02425483 0.01684945 -0.04663910
+v -0.01679721 0.01684935 -0.01778361
+v -0.02440033 -0.00143168 -0.02422618
+v -0.02895884 -0.00106657 -0.04140617
+v -0.02895763 0.00106646 -0.04140617
+v -0.02898409 0.00319949 -0.04355366
+v -0.02901535 0.00319950 -0.04570116
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_70.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1efb99fd6b46ce0743a35f98c2cb92183128613d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_70.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_71.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45515cd14cd95bb58dadfd86c8c6d0d7b4277a20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_71.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_72.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e650733ce76eb535163c24802108bba97275563c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_72.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+v 0.00108973 0.01782202 0.04016364
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+v -0.00015812 0.01782511 0.04016364
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_73.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3810ee7ca7d81dd4ba49e69a996718f8237774
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_73.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00015812 0.01538857 0.04016362
+v 0.00885074 0.01251718 0.04016361
+v -0.00015812 0.01782711 0.04016363
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+v 0.00108968 0.01782271 0.04016363
+v 0.00316465 0.02198939 0.03560833
+v 0.00103236 0.02206319 0.03566423
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+v 0.00742833 0.02202354 0.03377165
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+v 0.00374049 0.02352038 0.03110005
+v 0.00309498 0.02356222 0.03151530
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+v 0.00794862 0.02229671 0.03110004
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+v 0.00885074 0.02195966 0.03155167
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_74.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e132118b0b064238ac430810aa90236610c01470
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_74.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00675670 0.00001353 0.06292362
+v 0.00664155 0.00001353 0.06358298
+v 0.00676212 -0.00106769 0.06292362
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+v 0.00664358 -0.00106769 0.06359187
+v 0.00644172 0.00001352 0.06411255
+v 0.00623918 -0.00106770 0.06466580
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+v -0.00015812 -0.00454859 0.06292360
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+v 0.00498600 -0.00086322 0.06612865
+v 0.00476652 -0.00320008 0.06548605
+v 0.00579684 -0.00316265 0.06386725
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+v 0.00651216 -0.00246032 0.06292361
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+v 0.00642004 -0.00263674 0.06292361
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+v -0.00015812 0.00001351 0.06795671
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+v 0.00470285 -0.00474171 0.06384355
+v 0.00527254 -0.00429466 0.06292360
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+v 0.00423274 0.00001217 0.06706686
+v 0.00325052 -0.00086323 0.06736693
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+v 0.00084713 -0.00663753 0.06387909
+v -0.00015812 -0.00663820 0.06388057
+v -0.00001993 0.00001351 0.06795671
+v -0.00015812 -0.00106771 0.06796509
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+v -0.00015812 -0.00629272 0.06503051
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_75.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ffac3c2ca5087a6f9d45c73242969de31633d1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_75.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01503833 -0.01244217 0.03395146
+v 0.01105714 -0.01244218 0.03480573
+v 0.01475535 -0.00815245 0.03477578
+v 0.01503833 -0.00798906 0.03476978
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+v 0.01050258 -0.01244218 0.03592078
+v 0.00920974 0.00000993 0.04605665
+v 0.01503833 -0.00696235 0.03551914
+v 0.01210008 -0.01214346 0.04236227
+v 0.01143711 -0.01244221 0.04285234
+v 0.01503833 -0.00890604 0.04171184
+v 0.01419223 -0.00958401 0.04237726
+v 0.01277160 -0.01068022 0.04345034
+v 0.00935124 -0.01244220 0.03959863
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+v 0.01503833 0.00001239 0.04135817
+v 0.00920974 -0.01244220 0.04008121
+v 0.01087571 -0.01244221 0.04354475
+v 0.01503833 -0.00778545 0.04273846
+v 0.01468175 -0.00813297 0.04310265
+v 0.01314415 -0.00959865 0.04382502
+v 0.01172695 -0.00968645 0.04496104
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+v 0.01148504 -0.01152646 0.04380254
+v 0.00920974 0.00001236 0.04925791
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_76.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47e1faf917e88d2b75d924f33d5d70c32f3b80a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_76.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00815889 0.00001235 0.05049586
+v 0.00537769 0.00001235 0.05049586
+v 0.00816255 -0.00057538 0.05049586
+v 0.00920974 0.00001236 0.04925818
+v 0.00554733 0.00001236 0.05015229
+v -0.00015812 -0.00544674 0.05049584
+v 0.00816255 -0.00086315 0.05049586
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+v 0.00920974 0.00001237 0.04606714
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+v -0.00015812 -0.00601983 0.04932239
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+v 0.00920974 0.00000993 0.04605694
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+v -0.00015812 -0.00680388 0.04824784
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+v -0.00015812 -0.01244222 0.04687657
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_77.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688f9034576626efcb359dbeaad5bf63607bbf5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_77.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v -0.00863121 0.00044380 0.04997945
+v -0.00863121 0.00005737 0.04997945
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+v -0.00863121 0.00535284 0.04843211
+v -0.00863121 0.00005383 0.04658845
+v -0.00863121 0.00912924 0.04396940
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+
diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_8.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..282e2acd7ddb6224588ca643f5379a28d0312db0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_8.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_9.obj b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b579e0ad630515118dde995c6a1923f35c480e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/mjcf/mesh/baby_bottle_001_collision_9.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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