diff --git a/.gitattributes b/.gitattributes
index 23bbf5c38ff91ae7a51c921021aaed458d8dba62..b6a2bef6a72f34d1d440ebdd0ca0fd211c14b2a0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4770,3 +4770,5 @@ dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb
 dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.urdf b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..63b8e69c4699f0e89be82fb3eb64f590038abaa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_032">
+   <link name="baby_bottle_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_032.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_032_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>a4ab99abb8dd5231bc06214b1d545d86</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>wide baby bottle</name>
+         <color>white,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>wide-neck baby bottle with silicone nipple and rounded body</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.22</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155512</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031329 -0.031401 -0.044753</min>
+            <max>0.031332 0.031398 0.075247</max>
+         </aabb>
+         <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/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.usd b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/baby_bottle_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4090514b6c3f9f8c8a4c5a0bdb6ca245c4553e92d4d68fb66d51d01cc4b1120a
+size 4984374
diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.glb b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..77b1b099d3fd208475f31469c3283b4c44f69728
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13547844
diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.mtl b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d88c665a87ae1debe61020ac7fe9c87fb0aeff80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.mtl
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+newmtl baby_bottle_032_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/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d73865e2a710fc961961b3d18a1f068205ad51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032_collision.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2183ee0563cc39ef260d147cfead9e85b373a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..14bcb0a54f12c7446cc730c9448eb8bb1462136d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/baby_bottle_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce4df15d4ea4dc8d1762a9cfa6a6dc1554de3f7fbcd8d48542bfd3346fa9497
+size 10087226
diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/material.mtl b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c53d8426fa5a04b2dbd8ab0a2a8126e7d84da56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/material_0.png b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..14bcb0a54f12c7446cc730c9448eb8bb1462136d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce4df15d4ea4dc8d1762a9cfa6a6dc1554de3f7fbcd8d48542bfd3346fa9497
+size 10087226
diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/baby_bottle_032.xml b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/baby_bottle_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9706c111b85f9232f63aacc9d3b72f81b3e462af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/baby_bottle_032.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_032">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_032_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_032">
+      <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/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61b04e4b84bdda64159ecebfbeff553cd440694
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032.obj
@@ -0,0 +1,107732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_032_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7a728eda77556c339da2dcfa3017b1f1e88d4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision.obj
@@ -0,0 +1,12204 @@
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_0.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a02b7aa1a4e175506d6443a89a49525ef4ef43d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_1.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c0dab3352d5846609a7f6ec6c7eb2e06cf2c70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_2.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb70526fd7375e93bd9bbbb52aa9579426736f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_3.obj b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87dea47734dd49f235cad89b027582f6f29f3c35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/mjcf/mesh/baby_bottle_032_collision_3.obj
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