diff --git a/.gitattributes b/.gitattributes
index 04adb0cf2b8b2ad7a1f461933b06765621eb4293..e2bf2a0868b5d34328ea170aa2838f4f3b9504af 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3503,7 +3503,5 @@ dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/canned_coke_008.usd filt
 dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/mesh/canned_coke_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/canned_coke_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/mesh/canned_coke_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/9044112657245b92924b802a8f6d737b/juice_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/9044112657245b92924b802a8f6d737b/mesh/juice_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/96096fc7a8e45007ab8f39a9a408fdb1/juice_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/96096fc7a8e45007ab8f39a9a408fdb1/mesh/juice_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.urdf b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..082973c2d4f8b58c24a319a21f980b7ec16c4e0e
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_009">
+   <link name="beverage_bottle_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_009.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/beverage_bottle_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>1.000000</scale>
+         <uuid>76e0ac99fccc5835b5bab8dea8347872</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>green bottle</name>
+         <color>green</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>green beverage bottle with textured surface and rounded shape</description>
+         <min_height>0.1606</min_height>
+         <max_height>0.1606</max_height>
+         <real_height>0.1606</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212853</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.usd b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/beverage_bottle_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b383c69349a1978952ae2cb13394f73c560d535a84e6f2622ca73fe875238144
+size 4968789
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.glb b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c0fdebfef53b0afd4ffe50edd81c8b865edec67b
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50eda1e40ad93155b80af82df5b98a6e1f240bf8eb8bb343838c344573b6d35a
+size 15182816
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.mtl b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8cc77772df1c967a1106c2d65bd1ccf8dab05e3
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.mtl
@@ -0,0 +1,6 @@
+newmtl beverage_bottle_009_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/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1462bb893f1a42b1cd8ecd65d9d722bc7adcd4dd
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009.obj
@@ -0,0 +1,107546 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_009_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009_collision.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d864c01f74706f86efcb073600fd3997e2d6eada
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009_collision.obj
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009_geometry_Looks_material_0.png b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aabaf0bf0cc3a96666d915575b0e7ff2b9b788b
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/beverage_bottle_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf56d0931dd73da4f4483b4f131a42ec4c3560f53086fc7716d708e679eeaea
+size 11745120
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/material.mtl b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..454e1f7fc7c6ce4ff85542a80a4f1ba2c6dcbf44
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_009_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 beverage_bottle_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/material_0.png b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aabaf0bf0cc3a96666d915575b0e7ff2b9b788b
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf56d0931dd73da4f4483b4f131a42ec4c3560f53086fc7716d708e679eeaea
+size 11745120
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/beverage_bottle_009.xml b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/beverage_bottle_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..165bb4a14b5c44ca2e0ac09a612c303be66d15dd
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/beverage_bottle_009.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="beverage_bottle_009">
+  <asset>
+    <material name="material_0" texture="texture_0_beverage_bottle_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_beverage_bottle_009_geometry_Looks_material_0" type="2d" file="mesh/beverage_bottle_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/beverage_bottle_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/beverage_bottle_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/beverage_bottle_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/beverage_bottle_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/beverage_bottle_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="beverage_bottle_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c2cf1e01a3d002d294337fc191efc8b1e305bb
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009.obj
@@ -0,0 +1,107546 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_009_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1082255fca27bca89a32bc95928a46e6ec60b30
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision.obj
@@ -0,0 +1,20142 @@
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_0.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e195b52912b49718d0c919d43358bf0782eb8a93
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_0.obj
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_1.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958667aebc13c182a827f5488bcd9a4f1a6a7a43
--- /dev/null
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_2.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20998d543e3dce08461b3550ae64e2c41ffab8e8
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_2.obj
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diff --git a/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_3.obj b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f73b25b56d9461df18aad7c6012718292bc0ff5
--- /dev/null
+++ b/dataset/food/beverages/76e0ac99fccc5835b5bab8dea8347872/mjcf/mesh/beverage_bottle_009_collision_3.obj
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