diff --git a/.gitattributes b/.gitattributes
index 6239d965e347e89b9f3a1a8362ecf5c952ba3c4a..ff9a2866d3d06113f819ebb2f9772273d5ed1a2a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4672,3 +4672,5 @@ dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/mesh/water_bottle
 dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/mesh/mug_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/mug_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/3425f984850d54e2966a7ff035633f70.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.urdf b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..386010a8419954493e9d298305a4796e2b029a47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_037">
+   <link name="baby_bottle_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1700" />
+         <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>3930c451338f55b8b0292e991fc6b58e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>transparent,pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>transparent handled baby bottle with silicone nipple and cartoon print</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.22</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155647</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030836 -0.050767 -0.045854</min>
+            <max>0.030723 0.050714 0.074146</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.usd b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..95d6aaf34a677efc431c511e8ef8f75302afea6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/baby_bottle_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e072f7ff526e428898a33cbe2d3882d3a8e5e694fd2b9632f53ad963c9ecb561
+size 4996422
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.glb b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fd54451bb34debdf3c6b503b953a9d97017c6dee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3abb8ffdd454ff270a97a4c84fdc3912bdddfb936f7a7c1b476df3e8a4b124e2
+size 14462888
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.mtl b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b21fb580cd9d455aed0c2489f8dd5048763ca08b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_037_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/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..855e37d292c599db2886a5ec140f8ac380dc02ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037.obj
@@ -0,0 +1,106578 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037_collision.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8437bcf32a78333751fa5169ec05ddc8a56b8fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8e7a92fe38bf5886735137eb38002bb962dae10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/baby_bottle_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52a4c7ec4c4d1480dcea103f5a003d72afa30e2baa826d842134578b215ae7dd
+size 10985330
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/material.mtl b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d953158102d2eb73657009b4643a828417f94ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/material_0.png b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8e7a92fe38bf5886735137eb38002bb962dae10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52a4c7ec4c4d1480dcea103f5a003d72afa30e2baa826d842134578b215ae7dd
+size 10985330
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/baby_bottle_037.xml b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/baby_bottle_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..990fb456d3fa90fca0ab1c99262aa59a22b96239
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/baby_bottle_037.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_037">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_037_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_037_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_037_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/baby_bottle_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/baby_bottle_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_037">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4a22dc6959bce75bfeddd0be34165cd4a31b8cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037.obj
@@ -0,0 +1,106578 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be06bb519713a154cb3b1436f30410ccdd64cef5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision.obj
@@ -0,0 +1,17323 @@
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_0.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec13c6387dd793dfc388f818037ca1d11d0d881
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_1.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fa5114c126e8fb04c752b7e27d82f2994fb1c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_1.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_10.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52bda0d027539f60cc2a32093fb6511d478097a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_10.obj
@@ -0,0 +1,2125 @@
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_2.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23528c75367d3b0cbfee72fae68d2708498daedb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_3.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b433d9d0e60262659cb472bcdb5e7e0e8a1710bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_4.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b6018f9d3183baf61e140285e846c797d87cb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_5.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918418c228765090e1fccef4abd20a5b3c3371f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_6.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a6ba7c33eac9af8a3b0dad362aa26001e3fa9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_7.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d14a50b687f17ce7bccf1a45efd154180a581d9
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_8.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318febf64d7ae383d23f5140013c0f4667d8d042
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_8.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_9.obj b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a07234dc5420429a761170d1795a8370749908
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3930c451338f55b8b0292e991fc6b58e/mjcf/mesh/baby_bottle_037_collision_9.obj
@@ -0,0 +1,970 @@
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