diff --git a/.gitattributes b/.gitattributes
index 4b406849b208229990bee402d7ed71b5adcb2088..4e65864869334a122fa9b494c443091f2f402cf1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3513,5 +3513,5 @@ dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/mesh/milk_carton_002.glb
 dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/milk_carton_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/juice_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/mesh/juice_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/mesh/milk_carton_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/milk_carton_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.urdf b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2420c5a471a9d33da37868cb7a24ce45d22be0f
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_012">
+   <link name="beverage_bottle_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_012.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_012_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>e72a86560f8755cb9d9b8e075cfbeaec</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>green bottle</name>
+         <color>green,silver</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>small green glass bottle with metallic cap and label</description>
+         <min_height>0.1620</min_height>
+         <max_height>0.1620</max_height>
+         <real_height>0.1620</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212952</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>7</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/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.usd b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7e911aed8514de7b4327ce11b786786089dc012e
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/beverage_bottle_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fd31ead6e70cb93fd4ad4957453efa202dd7ee71d527fe32b4f24a61c2d7e7
+size 4901695
diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.glb b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..33544ecce3bcd2125081b62de4c2af308a563af1
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73b25249ce32afbd0f8b81ee4a7dac9b357d93491de12a5ade034b0fc08df6ec
+size 14475744
diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.mtl b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a17c0733770e90caad092ea629f4a9d9d69e7276
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.mtl
@@ -0,0 +1,6 @@
+newmtl beverage_bottle_012_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/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.obj b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7787777f541d08e391d0dc4ada1676b020f2ffe7
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012.obj
@@ -0,0 +1,106288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_012_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012_collision.obj b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5066fe854f4fb49ea65c7fd00fc2dd0374b365
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012_collision.obj
@@ -0,0 +1,5968 @@
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diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012_geometry_Looks_material_0.png b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c25e45023391418ff7e33d5410d583fcf767d61
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/beverage_bottle_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b58e78a4de1328328f2c850e0945f2d06bdeb18ad30cf9e6c1acd28317de4cd
+size 11136928
diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/material.mtl b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70653026508bdfd5ea69bd8bced72035c9bd21d5
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/material_0.png b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c25e45023391418ff7e33d5410d583fcf767d61
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b58e78a4de1328328f2c850e0945f2d06bdeb18ad30cf9e6c1acd28317de4cd
+size 11136928
diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/beverage_bottle_012.xml b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/beverage_bottle_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c347cf981e7ca21db271e8fc4d2b74a0b976cad2
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/beverage_bottle_012.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="beverage_bottle_012">
+  <asset>
+    <material name="material_0" texture="texture_0_beverage_bottle_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_beverage_bottle_012_geometry_Looks_material_0" type="2d" file="mesh/beverage_bottle_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/beverage_bottle_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/beverage_bottle_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/beverage_bottle_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="beverage_bottle_012">
+      <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/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012.obj b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8d30518c0ab468b3a05f55b282f2f2475f1324
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012.obj
@@ -0,0 +1,106288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_012_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision.obj b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdc2d637c83e210036699d38806c65052049c9bc
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision.obj
@@ -0,0 +1,5968 @@
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diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision_0.obj b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6328f926805d98c6279f05751ab6b24157025d
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision_0.obj
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diff --git a/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision_1.obj b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d1d636452dfe216ff946f09e49037376ae7d65
--- /dev/null
+++ b/dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/mjcf/mesh/beverage_bottle_012_collision_1.obj
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