diff --git a/.gitattributes b/.gitattributes
index 22e1619fbca645a0d617c085aad8a2c49a13d331..8973f6a38261bf0177fb046af8ae7b5fb8989b4c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3515,3 +3515,5 @@ dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/canned_coke_011.usd filt
 dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/mesh/canned_coke_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/mesh/peach_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/peach_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.urdf b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d745cee2f55bb51f0022c50eed096d14c5df5525
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_020">
+   <link name="beverage_bottle_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>f95b2b0c0af35fd794cdfe16dbee5503</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>round bottle</name>
+         <color>brown,black</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>round glass bottle with dark liquid and black cap</description>
+         <min_height>0.1257</min_height>
+         <max_height>0.1257</max_height>
+         <real_height>0.1257</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506213232</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>4</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.usd b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fbe83b796ff1603c1d4c6cf50246f09be70082fb
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b431073a004ed5fae4f58f9adc95e51c06dd26d16751a84500536253f4ae02e
+size 4898013
diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.glb b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a58d0a485de58b2ae2a1af25274ad07577f54fa9
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325ef7b721865906c6a45af8750203f48f852fcd7caf9b3c1d9db33d6a3e99db
+size 13966380
diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.mtl b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f898f626e9dfeeebb2a629834df9cc72fb76b87
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.mtl
@@ -0,0 +1,6 @@
+newmtl beverage_bottle_020_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/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.obj b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ee5b43a46856878abfc0bde26e36d03c9b0821
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.obj
@@ -0,0 +1,112086 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl beverage_bottle_020_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020_collision.obj b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01adb8cba70531baae0c405e58888a2d89e352c5
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020_collision.obj
@@ -0,0 +1,16870 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v -0.02111963 0.04124778 -0.00199369
+v -0.02101222 0.05571789 -0.00199369
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020_geometry_Looks_material_0.png b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..917c5ea3c246db398a01a9dde43a12a80383ce95
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511fc3d096b2735ee1f45dc5e1cf91dcec1d472420808ec7f1f94a6ee7fb4f6b
+size 10644155
diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/material.mtl b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b823d88a9e9f95dc74d017635f8439c8ca224ce
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/material_0.png b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..917c5ea3c246db398a01a9dde43a12a80383ce95
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:511fc3d096b2735ee1f45dc5e1cf91dcec1d472420808ec7f1f94a6ee7fb4f6b
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/beverage_bottle_020.xml b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/beverage_bottle_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f0a938eaa28ded91364bd1a64c98295455a82921
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/beverage_bottle_020.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="beverage_bottle_020">
+  <asset>
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+    <texture name="texture_0_beverage_bottle_020_geometry_Looks_material_0" type="2d" file="mesh/beverage_bottle_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/beverage_bottle_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/beverage_bottle_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/beverage_bottle_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="beverage_bottle_020">
+      <joint type="free" />
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+      <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" />
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+</mujoco>
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020.obj b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020.obj
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index 0000000000000000000000000000000000000000..274cd0bc363bc0779cdc400f59b5f0a0adb96188
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision.obj b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8da6180c8801ed121b6d3ffdff54c5362d7eda
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision.obj
@@ -0,0 +1,16870 @@
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision_0.obj b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99d1e17a959e86a645a8cdc6b6420aa40df93ba
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision_0.obj
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diff --git a/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision_1.obj b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2adf9d0d2685ad139ddcc8024c1f4575d801ef6
--- /dev/null
+++ b/dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mjcf/mesh/beverage_bottle_020_collision_1.obj
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