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index 5bdcb2b866e2f9984d65ac02fe991717d07f7627..1c3a568e86995639c5573cbf84a0ac6694aeb8ee 100644
--- a/.gitattributes
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dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/baby_bottle_008.urdf b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/baby_bottle_008.urdf
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9221704c2bc52d42b98d78d01b17793fbe52e076
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b46b838c03141fbbe5c1dc7e7637b3d0d10a35f1ca2f15576aa56cf456f675b
+size 11375357
diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/material.mtl b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f394d5dae26aa11022251e1c09a8da2892b856a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/material_0.png b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9221704c2bc52d42b98d78d01b17793fbe52e076
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b46b838c03141fbbe5c1dc7e7637b3d0d10a35f1ca2f15576aa56cf456f675b
+size 11375357
diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/baby_bottle_008.xml b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/baby_bottle_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..23ac99d1583679c17e2533d74bd113aeaa2071df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/baby_bottle_008.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed2faddd21f07ed26440e435f4d3445bb0f1ab3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b546a5d940a918c33cb6edfdd6a9a990caa3e113369cc3d025ff9dcba4ebc76f
+size 109282100
diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace64d876f8172e56852567ad6fdcc53cb49615b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision.obj
@@ -0,0 +1,15664 @@
+# https://github.com/mikedh/trimesh
+
+o baby_bottle_008_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_0.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30fe1455a9d00934c50b908e8c25f58027c5325e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_1.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc164ddc7fa56a01269a1fccfbddc9a043a86e90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_10.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5527084aea8a74aa9826cef365551251758834e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_2.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00620370a80d165ef4c05601532e8ca49054212
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_3.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f1bceffddc20775a1b2353c1f9d8947299d4e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_4.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aaee6dcafecafc9fc7fec30f7c39d945b776d97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_5.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8926cc4f113271e03a7a0d3772e68e4fc7b5d07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_6.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b7952afbe7bc2ca90000860bbac7975b9f5db1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_7.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d92fae87c0b26f6c14b8579acb74c3ce000ba6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_8.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc810691025731b48fdc512fc86ae03e4994ab6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_9.obj b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/video.mp4 b/dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/video.mp4
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