diff --git a/.gitattributes b/.gitattributes
index 9815f1eca4bc1946610ab49123cd5abad35d0729..70029235488a1d3b338e2edb0d92f6512126b6db 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3489,3 +3489,5 @@ dataset/food/beverages/27892b7d20ee501795b23f566cc2d17a/beverage_bottle_010.usd
 dataset/food/beverages/27892b7d20ee501795b23f566cc2d17a/mesh/beverage_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/2c2ca4b812955801a9f575c6eb23ba8d/mesh/milk_carton_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/2c2ca4b812955801a9f575c6eb23ba8d/milk_carton_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.urdf b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ba34fc8bef5e1984e98834b040c6124dc2d6388
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_011">
+   <link name="beverage_bottle_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</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>326264c0aa445724befafe58849a0ecf</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>glass bottle</name>
+         <color>transparent,silver</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent glass bottle with metallic cap and visible label</description>
+         <min_height>0.1552</min_height>
+         <max_height>0.1552</max_height>
+         <real_height>0.1552</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212936</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>4</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/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.usd b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/beverage_bottle_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb8010355ffba8f2443e3e42654fc2ea3051d8c8123060752a8f79890a45595c
+size 4919904
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.glb b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dda71c859afe1803119fbcb81d341b64ddced707
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1b87d37f3b9f56edbbb0f0317a2282a18252dbcc9c31c321ba30dcfaf82dee
+size 14508828
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.mtl b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6403b522547d1572695db630f7993deb1d537255
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.mtl
@@ -0,0 +1,6 @@
+newmtl beverage_bottle_011_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/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.obj b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d32faefc409f12428d420790870166770d83e8
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011.obj
@@ -0,0 +1,114334 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_011_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011_collision.obj b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e8a33d1c491aaedc4e96ba2cb619dd08be3bc4
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011_collision.obj
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diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011_geometry_Looks_material_0.png b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f783ed5fca79cd57c00e0c977b7079273185a8ae
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/beverage_bottle_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cee7778805b37a6666556a91ad9bd19066e07e6adade06688f3923f5c1d03221
+size 11149629
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/material.mtl b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b74e81c6489d6d6ec8ff8c40e95c65d43217b16
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/material_0.png b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f783ed5fca79cd57c00e0c977b7079273185a8ae
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cee7778805b37a6666556a91ad9bd19066e07e6adade06688f3923f5c1d03221
+size 11149629
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/beverage_bottle_011.xml b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/beverage_bottle_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7dce7897e81d2dba129892e61354bebe471b4006
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/beverage_bottle_011.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="beverage_bottle_011">
+  <asset>
+    <material name="material_0" texture="texture_0_beverage_bottle_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_beverage_bottle_011_geometry_Looks_material_0" type="2d" file="mesh/beverage_bottle_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/beverage_bottle_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/beverage_bottle_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/beverage_bottle_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="beverage_bottle_011">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011.obj b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3886ebf1ee3116fe60d75f2b4c81bc63f0c8566a
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011.obj
@@ -0,0 +1,114334 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_011_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision.obj b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb00f4057890f000215c49dd3f0a97202a54c63
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision.obj
@@ -0,0 +1,5704 @@
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diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision_0.obj b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7261620378f7ff0ff6e59e68c97a48afb96e2a
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision_0.obj
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diff --git a/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision_1.obj b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f4aa5df41b28abcb4370cd718e37a9ec3d766c
--- /dev/null
+++ b/dataset/food/beverages/326264c0aa445724befafe58849a0ecf/mjcf/mesh/beverage_bottle_011_collision_1.obj
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