diff --git a/.gitattributes b/.gitattributes
index 48349f310571deab803d2a4afafd0207743b88f0..ca9b909179f838cf10de2f169df8e5dbbabdc0c6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2341,5 +2341,5 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/so
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/8a6d93e786ac500fb628cad2a1973770/lotion_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/8a6d93e786ac500fb628cad2a1973770/mesh/lotion_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c76282a12d22fc262873ef4ce646957568e699bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_022_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 shampoo_bottle_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7df136707c89a208495e24a5dcc456b712fa745
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d109992de590a2315d5c36ee5c15184fc374daf7b2bd7537622b9c27f580130d
+size 7958770
diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.glb b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a4bc5cc97da76ada3f58fecfe767c8ce9f548042
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ede3517896b22594b79018b8115e850a679a49fc2bad6249eab278981515f0c
+size 11014972
diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.mtl b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..31532937484190532ae2c49f44d83e22009eceb1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_022_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/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.obj b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f7e62e24e3f8d8d9c1d91778a26d1e2c9f2ee6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.obj
@@ -0,0 +1,105722 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022_collision.obj b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57391309e7cf250e7cbfe50d67138c2ffc224c71
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022_collision.obj
@@ -0,0 +1,11867 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision.obj b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d749eabf572d3ccd15fb31705fa6a72e84f04f1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision.obj
@@ -0,0 +1,11867 @@
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diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_0.obj b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e51590fd10d770205a5af48c1ec53cec4a0fe52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_1.obj b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3e2c5be9cbcf591b02d573047b313d74420919
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_2.obj b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cdec06de128f48a0e37f4086e1af44de8f554cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/mesh/shampoo_bottle_022_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/shampoo_bottle_022.xml b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/shampoo_bottle_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd320bfaa3c0d7a2c2b84f492d7d9e8ddb7059ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mjcf/shampoo_bottle_022.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_022">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/shampoo_bottle_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_022">
+      <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/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.urdf b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..28dcd13ab7e7b7bad1cd8ee47a3d0c48464008f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_022">
+   <link name="shampoo_bottle_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_022.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/shampoo_bottle_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>8b4a14f2ce1f534bb1effe230348baf5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>blue,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>light blue plastic shampoo bottle with white pump dispenser</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145436</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027299 -0.048261 -0.102003</min>
+            <max>0.027266 0.047737 0.147997</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.usd b/dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.usd
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