diff --git a/.gitattributes b/.gitattributes
index e079adfd24789979eec17a5bb9ac8f1403d97e2c..6b1928f0f98fa94c9d4ed7f150563b590bd682dc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4824,3 +4824,6 @@ dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle
 dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d01ee849141f5c0aa655935986ab4d79/mesh/mug_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d01ee849141f5c0aa655935986ab4d79/mug_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.urdf b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f68415410ff7695d179624f07ba6ac1fa97e0f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.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>0.60</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>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>water bottle</category>
+         <description>blue cylindrical water bottle with ridges and a screw cap</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120031044</generate_time>
+         <gs_model>mesh/water_bottle_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.942605495452881</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.usd b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..349767f118ca14eb0859635fade69e9742cfe7d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/d51a155ee2d255cd8d1a6d63cc11434a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49e4150f22e432f5a72f062b4310acf546cb55032724b74156950bc618b0ac7
+size 1044966
diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/material.mtl b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/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/d51a155ee2d255cd8d1a6d63cc11434a/mesh/material_0.png b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..70fefb206c27ed9caf5b43cae82f05a3e83771f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869a05b54b4f82f1cbffc5683da398a704905e07859e4b0d2857102016b866d5
+size 2228138
diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.glb b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.glb
new file mode 100644
index 0000000000000000000000000000000000000000..90cddfb0c81763ace2f3ff7aad34c9e5994dfff2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ae7557d3dc7331e7b698a412646193481a507b8e7980dc30d4bebec4d97cefa
+size 2937768
diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb74a6d7ba3aa87c115303991efb97aa687145c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle.obj
@@ -0,0 +1,64916 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c230f4f624a8f018ed6784b102351527b3bb7ae6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_collision.obj
@@ -0,0 +1,13767 @@
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_gs.ply b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_gs.ply
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mesh/water_bottle_gs.ply
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+size 2287177
diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/d51a155ee2d255cd8d1a6d63cc11434a.xml b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/d51a155ee2d255cd8d1a6d63cc11434a.xml
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/d51a155ee2d255cd8d1a6d63cc11434a.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_2" file="mesh/water_bottle_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_6" 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/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b759d68114e7b0ca51ce615c79f0bf9290df07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle.obj
@@ -0,0 +1,64916 @@
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a58bc9724c345873a4be5011e84556cc1473a6b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision.obj
@@ -0,0 +1,13767 @@
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_0.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8958a06bf56d867bb397288d237ba4e663729547
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_0.obj
@@ -0,0 +1,928 @@
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_1.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8173166a150349391d3979e3b14ddb4f5584dfa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_2.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cee795703f7f2520d0106d5306e12f6838a1c23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_3.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f74be49fcc05627f93627fe32a74b097a9422a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_4.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a452c9bc638c8dc55f4cbefeeedba3fb6465e4a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_5.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c5e28772d6d60c83fa80d6e5d4be8dcaa9a6f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_6.obj b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3aa0d1f0dc3fbd9265df9e164c618098845dde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/mjcf/mesh/water_bottle_collision_6.obj
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