diff --git a/.gitattributes b/.gitattributes
index 32d56fab9c7d095c9cc56a273a99729bd6a4e718..36325c7aa82e86b8b979e9e508d1cbb5bd7554a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4717,3 +4717,5 @@ dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/mesh/mug_004.glb
 dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/mug_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/coffee_cup_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/mesh/coffee_cup_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.urdf b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df8a8acba9a5df7055d69979e1dc33b2554a4808
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_015">
+   <link name="baby_bottle_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>5ea2dbedea2853eaa923a0c42c77b868</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>pink,transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink handled baby bottle with silicone nipple and transparent body window</description>
+         <min_height>0.1311</min_height>
+         <max_height>0.1311</max_height>
+         <real_height>0.1311</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191056</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037442 -0.058904 -0.048728</min>
+            <max>0.037161 0.058861 0.082414</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2ede1540ecdacf75af73769747cfe965a4d864e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f541df698e9e1688b59db7ea0127db1cdad42eeb1766548adc1318a5954b9ba
+size 4985368
diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..926edc00ec072f5c60d148b4d9206f442f9dddf0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17be1b396f287a954943b896f0dffee5a4b78bec79681ce44426f85eba4f9849
+size 13026240
diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.mtl b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a6910ba561c802da2c7e6fee9a28d9e18a154ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_015_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/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efea9a48b5c80a89f70c87c1f4344aa558604e85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.obj
@@ -0,0 +1,108774 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015_collision.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6ae5b8df1ad860ebaaf5f0c2b47a43df88a7b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015_collision.obj
@@ -0,0 +1,21035 @@
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/material.mtl b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..93871388f1955a84aceec721148ed40f0937c88c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_015_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/material_0.png b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5e97c86d5f17c1b7aac273f1776b0b158cd79107efe594d64ce249c7a59750e6
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/baby_bottle_015.xml b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/baby_bottle_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..72e3f4c45bc58cd6301fb1d174da39546c41d60f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/baby_bottle_015.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_015">
+  <asset>
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+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/baby_bottle_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/baby_bottle_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/baby_bottle_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_015">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" 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/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa60f3e7d6c174b87ae67d25223fa3cdc4df2c80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015.obj
@@ -0,0 +1,108774 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641925d0631711ab950d8bb20be101505146263e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision.obj
@@ -0,0 +1,21035 @@
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_0.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94feefa45099f49208ed17842b47e4311bce23ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_1.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f604ab95b035d8f029178ee42ed7f89e891357
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_10.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5c5605e0b7488411e677f4094c5c6a24f8ac98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_10.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_11.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d9d588194c17f67c145f62be11fd4ebfc8d539
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_11.obj
@@ -0,0 +1,2209 @@
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_2.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c17add99517b551fc5e61632fb470cd8be0906
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_3.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c086892b35b6b2c369cad9689cc70389c2b15434
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_4.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51466e50e62b347c82a42484d6b8f06b9b324ba9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_5.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412059d808479cce230055d4e9dcae4d73b713dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_6.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1da6082779be44d5b0f8ab8e76bb21768eab257
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_7.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceca50d36829a8c671a3b27e68469f84c90ec65f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_8.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c304d8e7b3e0a205edcbb66e6135c75797ab2dc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_9.obj b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ea79e2b53a1fa4685bd63aaad6fbd09edb4a5b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_9.obj
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