diff --git a/.gitattributes b/.gitattributes
index 014f1d5440579b1b9fac56571cb92f65a98088f9..e2f5ef99a473fefa2f8cd58ceb5ea3ea0b30a203 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4864,3 +4864,5 @@ dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/ee482d7e539255d4a
 dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/ee5ed0047ded5d80b9d75960267d6c4f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.urdf b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..34cb8eb307947c464528d06816cc1eed81e4e54f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_039">
+   <link name="baby_bottle_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_039.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_039_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>ec959736d07450e096acf319357f7fe3</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 curved baby bottle with gray nipple and wide collar</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155729</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031257 -0.031502 -0.062784</min>
+            <max>0.031150 0.031501 0.097216</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/ec959736d07450e096acf319357f7fe3/baby_bottle_039.usd b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..47c0806a2ba2e8030ba2a1abd7c3c8a9b173a75f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/baby_bottle_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4946209
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.glb b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f391156d205b8baad088bc3d61e71573c9bcc44e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12735456
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.mtl b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd09113742df5ddb137313a10548278739b8326e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.mtl
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+newmtl baby_bottle_039_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/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21eedca23fe2f4022acee8f3827e298f1d96cca2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039_collision.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a37f20c82cf3b536d472459c56c5d15da5af45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039_collision.obj
@@ -0,0 +1,6980 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a21c4f69560d6837f1e34b2117a591408a81915
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e0f3f3b2b8a036d06eb0e12bda94ddba1d4ea0a082f81001c333786d76d5aa
+size 9328537
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/material.mtl b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f97f1f1be5e65174f995df0cef646a31f4b7c19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/material_0.png b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a21c4f69560d6837f1e34b2117a591408a81915
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e0f3f3b2b8a036d06eb0e12bda94ddba1d4ea0a082f81001c333786d76d5aa
+size 9328537
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/baby_bottle_039.xml b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/baby_bottle_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9dde5030e5058217f882e3d0348175b384ad54cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/baby_bottle_039.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_039">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_039_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_039_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_039_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c816e0a0c20c931824d91d74c6fcdafa8f4d5c0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039.obj
@@ -0,0 +1,105920 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_039_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..255b2b5bea10349e5d9db057a1c828567f76809e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision.obj
@@ -0,0 +1,6980 @@
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diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_0.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d050ad02f7b7a2383cf42bcfdc0495f2e22cdb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_1.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2eb08717e498e692f5548f75ade0f715fe65df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_2.obj b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92d01a68458b2a11cd637337149e763a895e45e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mjcf/mesh/baby_bottle_039_collision_2.obj
@@ -0,0 +1,1918 @@
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