diff --git a/.gitattributes b/.gitattributes
index ce3c1812d35a8eb422e7d64cf228c9cb085a4d98..9720884f6a33817ee8044f8bb48d4952e66b8fb0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4639,3 +4639,5 @@ dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.urdf b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cdd7772ff2b10fa28b09a0d6db5520e52fbc2a9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_020">
+   <link name="baby_bottle_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1700" />
+         <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>14fe24202cd55a9fb3140d5524b92916</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>beige,pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cream baby bottle with pink handles and silicone nipple</description>
+         <min_height>0.1348</min_height>
+         <max_height>0.1348</max_height>
+         <real_height>0.1348</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.22</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191246</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037615 -0.063303 -0.051180</min>
+            <max>0.037593 0.063105 0.083573</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.usd b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e2e99b6af9eec8005df17cbf1abd155fa98c842d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/baby_bottle_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30dd2150a21ed7f9a3564d4c0b34afdb16000d12af466358cb9453e163a6515
+size 4992357
diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.glb b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d12d8b8ff0ff02c6f32688c0a34aa7d466c0fa8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f2b09cb00487b67bda4c31851920a2cf8cc7de19d6602df3ea1f761dffc9483
+size 13771316
diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.mtl b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8337cd2476abebd6ce9962eff7deeaa6d014de34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_020_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/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f408824647a20040f069e14e26ca1ce282ab8aa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020.obj
@@ -0,0 +1,109988 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020_collision.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41091cd380726925850c70c60a04709708941cc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020_collision.obj
@@ -0,0 +1,19920 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f2b06f103f97ade89b751c95f89d76015ff72b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/baby_bottle_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b76f7390b4470cc6f1b7ee407961258d23eb11ea0f5b3fff902a52945f13fa1
+size 10286941
diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/material.mtl b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef9f1ce06af7ac89c62264c2b696af63eab7b7bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/material_0.png b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f2b06f103f97ade89b751c95f89d76015ff72b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b76f7390b4470cc6f1b7ee407961258d23eb11ea0f5b3fff902a52945f13fa1
+size 10286941
diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/baby_bottle_020.xml b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/baby_bottle_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5e569a716fd0042e45ac7932c2630e08c1eb3ccd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/baby_bottle_020.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_020">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_020_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_020_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/baby_bottle_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_020">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" 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/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa1b43cafb5707204f363a864002eda1cb48421
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020.obj
@@ -0,0 +1,109988 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b158c432b10c022fa228101315816c79ba0f4a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision.obj
@@ -0,0 +1,19920 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_0.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e3f0cb1ff3d3f17d1b0429eb268505a53b6ae0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_1.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be91aabfc777b9df1b416561d5c548cc29a4361
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_1.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_2.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76af577c5f45eb135366c5634a8f7f9affc3abef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_3.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f6a31aee12be4e440bac72d1342396e62469d1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_4.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a8528bdac8f5d3a328a519d8c56c525f39e99b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_5.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fab1e5367a02b2a3002ee15b132e57ddafc9117
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_6.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2b5f7a573042c3000b7ce628e33253f65c567f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_7.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20f1673fbcf8a478aa93a7389c0376840a0a438
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_8.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f19b7e38ab9111f4202a4e054b5b6847de8d7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_9.obj b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6630c5d0cfae3325fadcaf6c02a98704d853622
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/mjcf/mesh/baby_bottle_020_collision_9.obj
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