diff --git a/.gitattributes b/.gitattributes
index c94880550e10483d194047348ee2a75eecebeb13..b1c47e654dcd2840c736743c1b1a77935e85ffde 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3490,7 +3490,5 @@ dataset/food/beverages/24e6da9980925a02bee96e209ec5aae8/milk_carton_004.usd filt
 dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/fruit_juice_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/fruit_juice_001.usdc filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/mesh/fruit_juice_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/569e621cfdc9511bacbe3dcf34acbe01/canned_coke_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/569e621cfdc9511bacbe3dcf34acbe01/mesh/canned_coke_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/5293281b4df350b2beb054fe1e552807/mesh/milk_carton_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/5293281b4df350b2beb054fe1e552807/milk_carton_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.urdf b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..02fbacf885a8934ba2ee11fda11993d415943912
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_008">
+   <link name="beverage_bottle_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_008.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_008_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>1.000000</scale>
+         <uuid>4f769731c3b15c72bf3371433f5cb3e0</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>coconut bottle</name>
+         <color>green,brown</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>green and brown bottle resembling a coconut shape</description>
+         <min_height>0.1378</min_height>
+         <max_height>0.1378</max_height>
+         <real_height>0.1378</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212827</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>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.usd b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..561d845a6fc9a631aab4af1b55b40b153d82ab3c
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54501e5c4da76d4b6c1d20b39b91e57679b2bc118d6bf0dda353ebea856bf43
+size 4978056
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.glb b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bcf29e45cb55f46ecaaa699223c18eca2532b887
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6022370333b805ed47933656ea16af1b50cb6273b35a58e6ba6f4385b83e410
+size 18458576
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.mtl b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bbf606e9aeb4b098502855b04986c56277534558
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.mtl
@@ -0,0 +1,6 @@
+newmtl beverage_bottle_008_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/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3cc9df099069e44375728015dbf22ff3f2532fb
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008.obj
@@ -0,0 +1,117602 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_008_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008_collision.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4854d81239f380e4a479ddfacb47b90d19ff37a7
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008_collision.obj
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diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008_geometry_Looks_material_0.png b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1bb5239faabd8bd1d27aa846c61f534b48ccaa6
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/beverage_bottle_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51528e9d913bc8abb5e7d16fbdb8bdfe4045ed552dff7345858099cc0a8be8cf
+size 15004327
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/material.mtl b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e9b8a9bbe781d5d17f4d6bc157981e54d036683b
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/material_0.png b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1bb5239faabd8bd1d27aa846c61f534b48ccaa6
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51528e9d913bc8abb5e7d16fbdb8bdfe4045ed552dff7345858099cc0a8be8cf
+size 15004327
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/beverage_bottle_008.xml b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/beverage_bottle_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7086f4ea16fd5e0dfad7b5811f4219708d6b6cbb
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/beverage_bottle_008.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="beverage_bottle_008">
+  <asset>
+    <material name="material_0" texture="texture_0_beverage_bottle_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_beverage_bottle_008_geometry_Looks_material_0" type="2d" file="mesh/beverage_bottle_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/beverage_bottle_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/beverage_bottle_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/beverage_bottle_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/beverage_bottle_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="beverage_bottle_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ad651364f2e93628e31e61d801f666ab9a32cc
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008.obj
@@ -0,0 +1,117602 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_008_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984962e010bf580f623b989bbe57ac5f4d66963c
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision.obj
@@ -0,0 +1,15746 @@
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diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_0.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e79f26b85debb9f6c6b59f317460b5c2fc1280
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_0.obj
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diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_1.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ced477b66e9d2e3e9d4895c52d5d34cf61d43bd
--- /dev/null
+++ b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_1.obj
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diff --git a/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_2.obj b/dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/mjcf/mesh/beverage_bottle_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7611a0326ddaeeef4e8a4d70fadce4b994b22a
--- /dev/null
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