diff --git a/.gitattributes b/.gitattributes
index 05ee4452d8f530db4b236fa111fe857a0ce877c6..43e22035ac1112145cc49ad43d4a9164812157cd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4776,6 +4776,5 @@ dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/mesh/thermos_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/thermos_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/b3f89ee55ffe5bf0960ca8b3544a6f85.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.urdf b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e836f7043ab648d76d65bf0218d84da4e509cde6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_019">
+   <link name="baby_bottle_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>b35bb14a950b54c38f14b8a5d07fcfdf</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>clear baby bottle</name>
+         <color>transparent,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>transparent baby bottle with silicone nipple and curved plastic body</description>
+         <min_height>0.1387</min_height>
+         <max_height>0.1387</max_height>
+         <real_height>0.1387</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191226</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025632 -0.025633 -0.055201</min>
+            <max>0.025638 0.025637 0.083541</max>
+         </aabb>
+         <tags>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_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/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.usd b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/baby_bottle_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b9721e0b495bc44e3d7615bf5f5bb6d4594f22dcac183658abda3444724a9f
+size 4953687
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.glb b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..272e5008bcb81f36d85a937225dd9969a87640e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135b4066e80a4ee04aaa80fd515248462ac51ee490516d1ed8838b205316346a
+size 13613176
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.mtl b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c1115990fca80f0dc4b584cc67cd304b056c77f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_019_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/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722f2ba95bca8dde163b5f45c5d24578cd2a1bfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019.obj
@@ -0,0 +1,106156 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019_collision.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523655d06c447a03f233f7f402b9d6a32f7a7ecd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e66b14b8f4e0d43a701fb020c36ae60aff4251e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/baby_bottle_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b74aad1cc8bd90d976101249dfb48f327a2fdc32cb6596b85f1c9649338859
+size 10212997
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/material.mtl b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae574308d2ac77d1cc47d8a3aeffead22b1ee09f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/material_0.png b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e66b14b8f4e0d43a701fb020c36ae60aff4251e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b74aad1cc8bd90d976101249dfb48f327a2fdc32cb6596b85f1c9649338859
+size 10212997
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/baby_bottle_019.xml b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/baby_bottle_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..821d34d609376792b07ac8252995966593af9e4a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/baby_bottle_019.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_019">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_019_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c51b498cf12f03d57e7d866aeb4211c474319dac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019.obj
@@ -0,0 +1,106156 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097957de32cd901289d75510b796d01ef675766a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision.obj
@@ -0,0 +1,7899 @@
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_0.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7cf9f572f54ff2b499ddcf9ff2b995f069c7b23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_1.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c33e3b7e27b4400841188efb0c3a3125675c698
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_2.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b61d2fbbee8200ead646b6f2fe6902f56b0283
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_3.obj b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97e28696aa5241b688fbb3644126339a467bdec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/mjcf/mesh/baby_bottle_019_collision_3.obj
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