diff --git a/.gitattributes b/.gitattributes
index e8cf6c9312eefeeee88cc1e752fa9f511f652332..e8fd27b3b3f7ae8457008365e4709ae663722e1b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4871,3 +4871,5 @@ dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.glb fil
 dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/baby_bottle_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/mesh/baby_bottle_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.urdf b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93bfa167aa07c4688c95940f0f9a315d5f6d52bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_017">
+   <link name="baby_bottle_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>f15f6a2ab9fb5ee6ae52efd6bf4dc663</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>clear baby bottle</name>
+         <color>transparent,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>transparent baby bottle with gray cap and silicone nipple</description>
+         <min_height>0.1371</min_height>
+         <max_height>0.1371</max_height>
+         <real_height>0.1371</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191153</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026645 -0.026676 -0.053873</min>
+            <max>0.026528 0.026669 0.083237</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.usd b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4e362f1c9314661831a77c820bf21f044e745840
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/baby_bottle_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d34bad2d70cd604544067c6a5eaf3da9824bd70021492128cea61f48038faf
+size 4957574
diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.glb b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fd98ec567aae761b9ae450234b6bcbcf3a7e390d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:976f910309f2cb42f63f4a82be3ddbbc2686343e17d073521ddca9b985ae4908
+size 12968408
diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.mtl b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d357559bb63f95010004f9f9fd134a6150673901
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.mtl
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+newmtl baby_bottle_017_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/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e4f551047739cadeed054ac2c133ae390da9a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017_collision.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1149b643792f49b9396dfa44093638ac5c0001b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..565adfaa864e2f3f7a9d1baca8155040acc28f41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/baby_bottle_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
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+size 9553451
diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/material.mtl b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c868b9f47b42a2414f75b1e5784640fc1cb5937
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/material_0.png b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/baby_bottle_017.xml b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/baby_bottle_017.xml
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index 0000000000000000000000000000000000000000..1f9e27ea7ada406534637ed971b7421ad206b97c
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+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/baby_bottle_017.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_017">
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0240f46c5bbea08d05e5e1cc0e3722bde89084de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision.obj
@@ -0,0 +1,6398 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_0.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f89eb26b4973e737fe632754ba4c17bb576035
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_1.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bac417f1c5ca1c2f356bdbee0a668563c25ef75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_2.obj b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18a26c82fbe7f514ad2794ac18e2f847ad24f57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/mjcf/mesh/baby_bottle_017_collision_2.obj
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