diff --git a/.gitattributes b/.gitattributes
index 7f9a7c41bcbdcaa9e844f16995ccc8306cb68e62..e94dc1e2be272e15f06ee869f980e68ce32a95e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4739,3 +4739,5 @@ dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb
 dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.urdf b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..196f003c09b3a0cfe77a1d64cce9b0144eb5396c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_016">
+   <link name="baby_bottle_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_016.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>74a32a2e497e5b3f8d6ec02eeeb5ddec</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>transparent,brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent handled baby bottle with silicone nipple and measurement markings</description>
+         <min_height>0.1362</min_height>
+         <max_height>0.1362</max_height>
+         <real_height>0.1362</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191130</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032449 -0.056585 -0.056093</min>
+            <max>0.032221 0.056715 0.080089</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.usd b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d6680988df0305758cef82294a5e26d49b6872aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d81534789247237eb7ea5565b648ad75aca49f70a392d1cbcd4cc347d1c1ac
+size 5004187
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.glb b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6b77e51cfa0c0dd4c299b68f34fae79cda67f1e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4d8ae87485f1450af72e6eaa7e8eabe75362a9deacd01a34ac116753c4923aa
+size 14547052
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.mtl b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e660443a3959f40111351aaf788920dcacd0ce32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_016_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f0b29dc824f3ea19e8837521b817c2a9f7f26a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016_collision.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21aeea80da77cd7d5aa63158b117b14cf11df041
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016_collision.obj
@@ -0,0 +1,13692 @@
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c905ece4c9a2d065c785cfac38412af6e2c7944
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f02910a964f8d8a350653db097cba77d1b3c2730bc00a756c8f9485a827fb68
+size 11052993
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/material.mtl b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f93609fefe761c9117079c5d0cebc9095c2622f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/material_0.png b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c905ece4c9a2d065c785cfac38412af6e2c7944
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f02910a964f8d8a350653db097cba77d1b3c2730bc00a756c8f9485a827fb68
+size 11052993
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/baby_bottle_016.xml b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/baby_bottle_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba99e4970f777824c5973718c7f8443e736a1b42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/baby_bottle_016.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_016">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_016_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/baby_bottle_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd554a10564121ed5a9fbd4431103d70a1c6ac7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016.obj
@@ -0,0 +1,110794 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58651bda847797588253cd3ab6439fd804c2af1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision.obj
@@ -0,0 +1,13692 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_0.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6ddc58d3a06f3f89e534212825375d56afc22f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_1.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad4772570299c4da0ccf24e39c420955f574baf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_2.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce91ce70d836a3d6c5680855a837cae4f9c48b0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_3.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72578b63d1d9c07194be62fba83c79587e215ab6
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_4.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80e6760d628a4e5a3815fa6d9bd3404e73d7b74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_5.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2402cb0fd3f02e7ac0693918710bd65a7c3443df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_5.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_6.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c32476623c270365a59d142c65fac0714ec8e83f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_6.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_7.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6964796a3c71ed04a6670605f5e285b994653fe7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_8.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..509e1c37aa8b026b6d1f9aadcbfb23180603f691
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_9.obj b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..225e74015d1ac3055e7f89edba624052bb9bf623
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mjcf/mesh/baby_bottle_016_collision_9.obj
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