diff --git a/.gitattributes b/.gitattributes
index bdb78e81425c3efc46bf21c05c1da949b36bb3d8..e16bb5ab82393a620a6f3fed587b26e85ff5c6fa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4626,8 +4626,5 @@ dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/0625c846390a5801b
 dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/02700b1627945131982209b15ea7a87c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/mesh/thermos_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/thermos_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.urdf b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a27ad882b1645acba1f944350e885cf4f622b5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_012">
+   <link name="baby_bottle_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>04f02b7235da5b9cbe20916e1b788485</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 nipple cap and curved body</description>
+         <min_height>0.1395</min_height>
+         <max_height>0.1395</max_height>
+         <real_height>0.1395</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190954</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025531 -0.025376 -0.056416</min>
+            <max>0.025516 0.025352 0.083040</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.usd b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d916e5732271147735dbdb3cc1be92134a0f6b74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:903bfa0d33ff891c321fd15546f58e9cec2237e4146b6f87166f469971e71f7f
+size 4956127
diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.glb b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4fb858891d89078d8bced54f0165318560a941f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed08d912db0ced5528a8d24700f2c86eaf996a79491762c330f39e5ce32f89c
+size 13620356
diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.mtl b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..563994f63ac02437a1d87339b2dd726c2f9356b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_012_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/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4b4fff4a5641206480f69c52a1a2dab1f6b6c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.obj
@@ -0,0 +1,105882 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012_collision.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65a83a148d2f41321651a0f2c1d9d95a2ffd2ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0fecba3e74e1903eeb9c8b09e25e84a99864a40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39c4eb40bc92bb66a5b56acc198f01cd78f27a409efeac2758d2c0f710aba83
+size 10202260
diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/material.mtl b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..154dd999f02bfece8c0cbfbd7335d95ce977f31b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/material_0.png b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0fecba3e74e1903eeb9c8b09e25e84a99864a40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39c4eb40bc92bb66a5b56acc198f01cd78f27a409efeac2758d2c0f710aba83
+size 10202260
diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/baby_bottle_012.xml b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/baby_bottle_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e4c8cae7a2013523771ec8a95ad61924059cb6f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/baby_bottle_012.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_012">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_012_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_012">
+      <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/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0f91cf62d75c605bcb374e5108ea59cc375968d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012.obj
@@ -0,0 +1,105882 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5d385b2015db71b7501bb729c1f8709d2e2112
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision.obj
@@ -0,0 +1,8124 @@
+# https://github.com/mikedh/trimesh
+
+o baby_bottle_012_collision.obj
+v 0.00110705 0.02329707 0.04190819
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_0.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09631120cde70bdd036ae68eadb792de31972904
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_1.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c0faa44f031427c6aa20a7e0efc1c16390bac8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_2.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac56281086f23f9211baa51df502492722aa016
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_3.obj b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384a76c2107075295aecc0bf27d2bc000e276eaa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mjcf/mesh/baby_bottle_012_collision_3.obj
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