diff --git a/.gitattributes b/.gitattributes
index b6a2bef6a72f34d1d440ebdd0ca0fd211c14b2a0..0ab324c70bae6cf6c5c6192badf633ee7b93a23d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4772,3 +4772,5 @@ dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_0
 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
+dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.urdf b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2ad56c06c9710a19920023ea263d4d4c9cc8374
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_036">
+   <link name="baby_bottle_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_036.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_036_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>a6513e413a515d28b66d28db566af3ff</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>white baby bottle</name>
+         <color>white,transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white baby bottle with silicone nipple and tapered body</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155630</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033206 -0.033312 -0.064281</min>
+            <max>0.033263 0.033310 0.095719</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/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.usd b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cfdf04dbab7ee2e5c4c80076f109b059ab86f757
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/baby_bottle_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca86d602f06577d92f436d0f49bcfb9b441faa9759f9499e5452fdf4b317fd12
+size 4913069
diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.glb b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1fac01ceb4e6ea7b9f9843cc789c74e9aea47993
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ca4bc3baeacaba2cc994691106aba716c18474bb542c80c2782365d924ee42
+size 12433836
diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.mtl b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8324eb7b272f035d563b21391be3151237ddfac9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_036_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/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff248c0bc82b9229fb1dbf1f16270c66cc34a0b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036.obj
@@ -0,0 +1,105358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036_collision.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee682c85b086a7293763b4ee2ac4301bc84eb1c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7372db999476d34ae5510086a97a4e4dc0fec0ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/baby_bottle_036_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/material.mtl b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4bb95ed5b445d87d39cd954be238086dc3d1456
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/material_0.png b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7372db999476d34ae5510086a97a4e4dc0fec0ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f9ee90ade373618d7116c1f5e3ef63d2f02150eee6be71d352dd8004046e75
+size 9067878
diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/baby_bottle_036.xml b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/baby_bottle_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed4248fd79436801e5c3cc37e85082a8a46f61cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/baby_bottle_036.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_036">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_036_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_036_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_036_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_036">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f80c549f50ed631b1d113e8080258ce6106cf889
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036.obj
@@ -0,0 +1,105358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2701ff59a2a9ac1a0d5ca665da5e3e97009f95
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision.obj
@@ -0,0 +1,8231 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_0.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5883ef1d7070c37842bf6ab6bfb25658802a85aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_1.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e670ae9c26ed501750f60347a133e5dcc0d6391
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_2.obj b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd31deeace6c35ebf01d1dff64408aaf4ff736a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/mjcf/mesh/baby_bottle_036_collision_2.obj
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