diff --git a/.gitattributes b/.gitattributes
index 49c72c3df63254aceea8f4519fdc272acaf4bd07..439352abe96bb501d07aa77140a97c5da7a9dee7 100644
--- a/.gitattributes
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dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/baby_bottle_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/baby_bottle_007.urdf b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/baby_bottle_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb420abb2c666747054f6b4d6aa6b3685edac64f
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/baby_bottle_007.usd b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/baby_bottle_007.usd
new file mode 100644
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbe4d49a04323a9538bda07663fa03fc61f32b8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/baby_bottle_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e48e734c3d228450284b60626a468c521672800e9aea912ab8098f6106bcd82
+size 12271630
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/material.mtl b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3bb7e44966067435b060e84814b68f513b0bf41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/material_0.png b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbe4d49a04323a9538bda07663fa03fc61f32b8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e48e734c3d228450284b60626a468c521672800e9aea912ab8098f6106bcd82
+size 12271630
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/baby_bottle_007.xml b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/baby_bottle_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d32d92001a526332ebefa58254694baef04dfd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/baby_bottle_007.xml
@@ -0,0 +1,36 @@
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5033da0189fab16735253ce60f4c097b26373c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc776a1dba696ba7170ffe0ebe498acf27372bf900b275a50d38799205f3f9a
+size 109222904
diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9007371239e9ea66551a48f6523b920f7ba8ffc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision.obj
@@ -0,0 +1,16513 @@
+# https://github.com/mikedh/trimesh
+
+o baby_bottle_007_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_0.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a488cd74b46a49ba627910e75cd2e8b3c4064cc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_1.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78a75f8a9198897f15adcc502a7e861557162a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_10.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8bee755c02204aa153da3e4cc9cc4846c7e172d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_2.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e2e8f4bc7a91d934be465eed893bf589af80a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_2.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_3.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04fe3389bbb4408ef0db03c5f220b9b95ed12ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_3.obj
@@ -0,0 +1,5998 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_4.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9725b34d2e243557efff37e4a7c66fa574509c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_5.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..370c54b2881b4bd51843e11e32d5cc15e13dfdaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_6.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc83c82589ce8d57ce9678f55cb7e2d2e369629
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_7.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee2a5ac7609e427d948221c1d9fe73fd4df1e15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_8.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3825c78fa514cf9f1b3fcb658cdfd32d591eac59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_8.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_9.obj b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865eac0252c79d0b3e16499eb2c7715e8dbacdad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/mjcf/mesh/baby_bottle_007_collision_9.obj
@@ -0,0 +1,1906 @@
+# https://github.com/mikedh/trimesh
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