diff --git a/.gitattributes b/.gitattributes
index e16bb5ab82393a620a6f3fed587b26e85ff5c6fa..e20ad305e70b56578b8bd72b2a6b840c937f5f33 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4628,3 +4628,5 @@ dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/mesh/purple_cup_g
 dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/baby_bottle_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/04f02b7235da5b9cbe20916e1b788485/mesh/baby_bottle_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.urdf b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a6bebe83bdf5e3dbf10d1fda718b87dfdede93d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_014">
+   <link name="baby_bottle_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_014.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_014_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>0b0a108aa97a57389135a42de10a421c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>orange,transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent baby bottle with orange nipple cap and side handles</description>
+         <min_height>0.1383</min_height>
+         <max_height>0.1383</max_height>
+         <real_height>0.1383</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191032</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033340 -0.057676 -0.056918</min>
+            <max>0.033170 0.057250 0.081367</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/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.usd b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/baby_bottle_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.glb b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13151532
diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.mtl b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4662be06ef49038c36571c45a12b8602364867c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.mtl
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+newmtl baby_bottle_014_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/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e53cd8d6ab8950f61ab877d8ca9f9ab9006da0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014_collision.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b87ca0ceb98ea6af2b7ac4df289ed212ffb634
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014_collision.obj
@@ -0,0 +1,14804 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.01216955 -0.01183669 -0.04858905
+v 0.01185694 -0.01183669 -0.04632153
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..03cbf586045b7d2ebbfa60d7237f71972ecf5666
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/baby_bottle_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd62bd25eda70203fbba08fb45e3fb4a22ebfb66d30894d817a97433151a5d6
+size 9667937
diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/material.mtl b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce3751deb67a2630cc754085aff7a2d11607cb84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/material_0.png b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..03cbf586045b7d2ebbfa60d7237f71972ecf5666
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd62bd25eda70203fbba08fb45e3fb4a22ebfb66d30894d817a97433151a5d6
+size 9667937
diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/baby_bottle_014.xml b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/baby_bottle_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..06f398f6629d8f694b6dd6c90bd26d9afd027262
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/baby_bottle_014.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_014">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_014_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bdf4a0ead5a47b519e76789753e1bd9450dece4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014.obj
@@ -0,0 +1,108656 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_014_geometry_Looks_material_0
+v -0.006317 0.052216 0.015162
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091a1f1d05e1da00dcb447cd53c3e3a2f2008fa5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_0.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34b8f5530c50dd26dcda156ea060269b4a61bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_1.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d674a60c3a29be428df9da26ce058d64e5a22738
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_2.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e60df719d8c987ca7c6bc6fc5971680798b220c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_3.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b447b5eb26f95a4b43bff4cbbb3992302a51745
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_4.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a15f9a28e9682e9a21c544b925ac0353da6a1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_5.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26221f8c519a2cf70bd9a8cc66d36c800e08b302
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_6.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa266c8a2c7392aa7d91482a754cafb40fdc019
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_7.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdfc68582006c146dbebf5da432e80be620a707
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_8.obj b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81567cde11a535b722475aedd834b0c537e035ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/mjcf/mesh/baby_bottle_014_collision_8.obj
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