diff --git a/.gitattributes b/.gitattributes
index a107495d713297323e89b88f6fc312af72c77750..b817f8c19d33e08e626a433c496dbca4f23d554e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3492,5 +3492,5 @@ dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/coke_001.usdc filter=lfs
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mesh/coke_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mesh/coke_001.obj filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mjcf/mesh/coke_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/5716eb44dcd1539ba44a84a805cd6f3e/mesh/milk_carton_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/5716eb44dcd1539ba44a84a805cd6f3e/milk_carton_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.urdf b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9f4b980ec5d7478b1ca98705329c238f22830c0
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_004">
+   <link name="beverage_bottle_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>67cfac8a0aaa559799f69895db47a756</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>sports bottle</name>
+         <color>blue,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>squeezable bottle with a nozzle and textured body</description>
+         <min_height>0.1301</min_height>
+         <max_height>0.1301</max_height>
+         <real_height>0.1301</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212713</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>10</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/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.usd b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4af968364a91ebb3e1011803cc804951f7577a3c
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/beverage_bottle_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f18375fc0df688aa727cb33d948106e36d8103e17c54109aa3ea7bc4442f28f7
+size 5010283
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.glb b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1629ef2de9adcf13c16ede684452b3b70abbc7fc
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f125f49ca2e6c5dd3a0946bb3ef7cfdfd2cebf6fa148c48eb1be6cb4dfac900b
+size 12287968
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.mtl b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca7c78cfe98bba2990bf3b59d07f4b603cd21dfc
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.mtl
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+newmtl beverage_bottle_004_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/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1ae578bc0f3bead755392520913b9a487bad2a
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004.obj
@@ -0,0 +1,111616 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_004_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004_collision.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2e09a2907b1f9ebd0073ad6fa2b156ca15ea3f
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004_collision.obj
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004_geometry_Looks_material_0.png b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36bd50c765194602cd5c6ffeb6b8981bd2d35880
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/beverage_bottle_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7d75fedc296b893d157e28e42a06a54938b97d1c44bb1737d784cb2bb1aebe
+size 8788729
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/material.mtl b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7968dd80ae89f20473f98e51a18306ed052c4a31
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_004_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/material_0.png b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7d75fedc296b893d157e28e42a06a54938b97d1c44bb1737d784cb2bb1aebe
+size 8788729
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/beverage_bottle_004.xml b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/beverage_bottle_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..35a7aa6966671c6b591646d48ef39688327065e3
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/beverage_bottle_004.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3197d0e85895bb8e57952afdd414c8b2d2eb88fc
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004.obj
@@ -0,0 +1,111616 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ed97fd0f2f92b579a1fbe1e8a8faf7d061400e
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision.obj
@@ -0,0 +1,10234 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_0.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60476fc4c44ef6371e8c22e11e9c01add4e9aa7e
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_0.obj
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_1.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b2df0002e77cf6cd71aa4325befcb55d0e9f8d
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_1.obj
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_2.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b701dbb37c97cdf3f7ebfe7c9b4b9d321e83fe6a
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_2.obj
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diff --git a/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_3.obj b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911efe1952d90c35c514d734616dea185f82099e
--- /dev/null
+++ b/dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/mjcf/mesh/beverage_bottle_004_collision_3.obj
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