diff --git a/.gitattributes b/.gitattributes
index 57280c2f9740c5b9bc4236fed34e3f244adafaef..19de27592fa04303107149bac464d016bdb9a99e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4778,8 +4778,7 @@ dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/mesh/thermos_011.
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 dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mesh/mug_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mug_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/b7d4785808a05fb0b72d3fadab562480.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.urdf b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9997b52a73d0725bc1c17a00d0b071d3e8fa6701
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_002">
+   <link name="baby_bottle_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>b0b299de7a2954038634f2040e2f4e51</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>baby feeding bottle</name>
+         <color>white and blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>curved bottle with blue cap and measurement markings</description>
+         <min_height>0.0892</min_height>
+         <max_height>0.0892</max_height>
+         <real_height>0.0892</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414152851</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.usd b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..185249ac09d10ef3c76296c738b598e2ff1877f3
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+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/baby_bottle_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e832b2399f1407c9dc2950c197265bd1fa39d462d7d077c438c47334a54bd735
+size 41942669
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.glb b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c6b5c9b8cae0a966410e3551dfece618038218ed9817940d8bbbaf062987f9c
+size 34569580
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.mtl b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f987724943208729f379e3699895435b388f5a75
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+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.mtl
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+newmtl baby_bottle_002_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8e7927aa3fb25e71fafa0f336cdd6c8144ace3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2e4312c905831c7e61a249f29e508ca37db27a9afedadbae823d98591c96c7
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002_collision.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002_collision.obj
new file mode 100644
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+
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2174288c3d3cf579e9abc1c0a83d3782e58d45d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/baby_bottle_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3330391284f6b908519b646265c49729e59d8757679b79c2da42b49cdb29e96
+size 12107510
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/material.mtl b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39c5b5c8715196bddbf970d8372542c91febc3a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/material_0.png b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2174288c3d3cf579e9abc1c0a83d3782e58d45d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3330391284f6b908519b646265c49729e59d8757679b79c2da42b49cdb29e96
+size 12107510
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/baby_bottle_002.xml b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/baby_bottle_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed74e09ad746e10b09f361a7df34acb6ba425abf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/baby_bottle_002.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_002">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_002_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_002">
+      <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" />
+      <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/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bd0823ccc4361961e533680395d9b4f40f1495
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4dbdfa5a887e8bc68299f02ff725f6ecafb6b233432c6e7eab92ab3841aa413
+size 35418911
diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f72e5cf2ce6dc2c006295091c7b178be037ec063
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision.obj
@@ -0,0 +1,12334 @@
+# https://github.com/mikedh/trimesh
+
+o baby_bottle_002_collision.obj
+v 0.00073788 0.02033403 0.00625874
+v 0.00073788 0.02026225 0.00478975
+v -0.00070311 0.02032605 0.00625874
+v 0.00073788 0.02024230 0.00773010
+v 0.00208062 0.02016654 0.00770396
+v 0.00218296 0.02024231 0.00625874
+v 0.00221162 0.02017452 0.00477787
+v 0.00073788 0.01905404 -0.01204416
+v -0.00070311 0.02025427 0.00478975
+v -0.00211134 0.02015857 0.00486582
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_0.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f47240706a68f70780a24246bb5f8fad03d390
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_1.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54746fff4a0f0a2fc4e79ebe05e035c639e192ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_2.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69390c33c20107f89016d683b7acb08b69f83a08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_3.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50b3868d7eedb844ceb32ac93190cbdd9c6b7b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_4.obj b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cee6f542d417a042bebe6ce8af6e423fefdac9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/mjcf/mesh/baby_bottle_002_collision_4.obj
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