diff --git a/.gitattributes b/.gitattributes
index 16cec44caf013e22971268e9ac17a418120f6392..e83307eeba5996a41577d537023e74ac9e8871e3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4731,3 +4731,6 @@ dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/mesh/thermos_019.
 dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/thermos_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/mesh/thermos_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/thermos_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.urdf b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..57d6a64694a1e3302e860aa2ebc76528a2a24f1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="water_bottle">
+   <link name="water_bottle">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/water_bottle.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/water_bottle_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.275000</scale>
+         <version>v0.1.7</version>
+         <category>water bottle</category>
+         <description>sleek black cylindrical water bottle with screw-top lid</description>
+         <min_height>0.25</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.275</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120024632</generate_time>
+         <gs_model>mesh/water_bottle_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.253013610839844</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.usd b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.usd
new file mode 100644
index 0000000000000000000000000000000000000000..45823b0c4d649065842a3b5413867a6c17599db4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3a36e49ce4fc9b795c942e34ac07c0c26a70c4c593209cd4898a974a2a4d7b
+size 541703
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/material.mtl b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/material_0.png b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecb2dcf2e13b95d81aa3e2442e559603bf4bf68c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4240b05120b6a688780bfeb6968d3e98f6bab274c2accd7b742f7efe66139f34
+size 677567
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.glb b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3629fdb31b7b12533d6886c418233d08831a8481
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87756a82bbe77c7f474fc3b791107e2d8bf5856892e36830fefa24abb461fa9
+size 1053692
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803252a97be938c82ae704f7deaf89ce798b35c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.obj
@@ -0,0 +1,34454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b274e7e4d3d09fda7788c6b343ec4a32789196
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_gs.ply b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a1b5ed16fbaef7d240bd2d9b3d7a90557985b618
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f32fcf80e8033fbcd4f8ba700cbbc071d6f8c41da749f3353b99c662b0379f
+size 1294185
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/6ab22d7fc07f544c998520e18ea2ec44.xml b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/6ab22d7fc07f544c998520e18ea2ec44.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0a5cf62dc5d8fa24f0782c9673e9472083faf2b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/6ab22d7fc07f544c998520e18ea2ec44.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="water_bottle">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/water_bottle.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/water_bottle_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="water_bottle">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecb2dcf2e13b95d81aa3e2442e559603bf4bf68c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 677567
diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aea03210145e14a7f40e9a1b39a54b066065e35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d875109d9f089f6152e2ed06c83f22da21c90d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle_collision_0.obj b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d875109d9f089f6152e2ed06c83f22da21c90d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mjcf/mesh/water_bottle_collision_0.obj
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