diff --git a/.gitattributes b/.gitattributes
index 55ff0a764b4cd29b2017d0016b6c8c1b870be169..1bac432f9cbb693b2fc6eb3671a035227085e44f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4703,6 +4703,5 @@ dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.us
 dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.urdf b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b8f804ad812330f80f475dc4e674162791f4f5dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_013">
+   <link name="baby_bottle_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_013.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_013_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>4e39d2e7d7d95e90aa89d46d07de3662</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>pink baby bottle</name>
+         <color>transparent,pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent baby bottle with pink collar and silicone nipple</description>
+         <min_height>0.1368</min_height>
+         <max_height>0.1368</max_height>
+         <real_height>0.1368</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191013</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031230 -0.031454 -0.053981</min>
+            <max>0.031249 0.031448 0.082814</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7f51b679b1c059feeca6920ebab4d3d7d842133c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3c916184ac7a2298831e3d61ff02517a11c500e16612218fd454e41c2e87d8
+size 4973688
diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4ad57ae0e0e6e79acf6bb4a985cd919adc62c625
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb4525e1460c3d18d387c8553d5b06eabb48c049d406f5d906c10bd34bef30f
+size 14416160
diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.mtl b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa8060dbf800e800a7c4be15c224530cfca45637
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.mtl
@@ -0,0 +1,6 @@
+newmtl baby_bottle_013_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/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f14c4d47f7e5f7a000c26d8b88c82f73cd5bcb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013_collision.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b79fe63195ba32f0f81ee1dba92660d056a922b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97a717b1cf87074091e9935989091d83bfaf00e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f22dd6497757e7ff15e26241c31474bd044512cf492241f6161b6f7a9734f24
+size 10976884
diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material.mtl b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..300b35d0ae2c9825ee436968b14cb948fb0b72d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material_0.png b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97a717b1cf87074091e9935989091d83bfaf00e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f22dd6497757e7ff15e26241c31474bd044512cf492241f6161b6f7a9734f24
+size 10976884
diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/baby_bottle_013.xml b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/baby_bottle_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..26ff2210cafee42982eda646146f059d2397212d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/baby_bottle_013.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_013">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_013_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_013">
+      <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/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac19ed656b5bde36cbfa4d522045eef000fbc03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013.obj
@@ -0,0 +1,105630 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl baby_bottle_013_geometry_Looks_material_0
+v -0.003952 0.028833 0.010664
+v -0.003952 0.028833 0.010664
+v -0.004693 0.028829 0.011163
+v -0.004693 0.028829 0.011163
+v -0.004064 0.029884 0.015557
+v -0.004064 0.029884 0.015557
+v 0.011256 0.000536 0.061795
+v 0.011684 -0.001490 0.061499
+v 0.012003 -0.000483 0.061364
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+v 0.014163 0.000290 0.060134
+v 0.014544 -0.001467 0.059853
+v 0.015180 -0.000862 0.059466
+v 0.015083 0.000053 0.059549
+v 0.013937 -0.002587 0.060133
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+v 0.011101 -0.002283 0.061755
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+v 0.014646 -0.003165 0.059612
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+v 0.010673 -0.003037 0.061906
+v 0.013259 -0.004164 0.060292
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+v 0.012456 -0.003937 0.060771
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+v 0.014528 -0.004399 0.059481
+v 0.015101 -0.004065 0.059148
+v 0.015580 -0.000120 0.059195
+v 0.011043 -0.004254 0.061466
+v 0.012276 -0.004908 0.060684
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diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcbf914ddff86a31cfc335c739be1e23c867a414
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision.obj
@@ -0,0 +1,9494 @@
+# https://github.com/mikedh/trimesh
+
+o baby_bottle_013_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_0.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53566213db494ca5915ef5293feebb45ba69c37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_1.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68be553bee1ddf7e8856cc94f4586552deeb7c2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_2.obj b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4d9eee89b815ac4d926f6a7f47c9031b04b22b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_2.obj
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