diff --git a/.gitattributes b/.gitattributes
index c39962d21e4c6961645df2f4c85bd4551c68eb4c..5588fd36defd79b45a9ac30039312093f36b196c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2311,5 +2311,5 @@ dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sp
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/shampoo_bottle_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81ae42773f33a4a8579ef5d700ba7d691e3cb5b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_004_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..335624f7f89aa1f63fd40f34318a070977ab4a2b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407b8c6b1ff12e478647e8befa1444f6a9c22e5ea60122bf22405b3613fbc154
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.glb b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..557fe4a210169f0979cf09693a3725540b033c58
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11991356
diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.mtl b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f5b8ba9a94c0a484d39102e9c98645ab44bd0c65
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.mtl
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+newmtl shampoo_bottle_004_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9b0f68c0eba6782466849bb9ea653bf047c1fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.obj
@@ -0,0 +1,107148 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004_collision.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34037118251b275645791db65879cb7b12bc4aa0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa71cafca2a36ede52fed1b9419e917c098710ec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision.obj
@@ -0,0 +1,4026 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_0.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85c148f5949650e9c2c96899c10146624a52171
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_1.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a09725f160eee3e5144d57d610ee7db1d17aa7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_1.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_2.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aba103e4033c18dc03f37daded1ab93da8c7338
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_2.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_3.obj b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be1c9d1b8687572b37272284cb50c36f5b5f38a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/mesh/shampoo_bottle_004_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/shampoo_bottle_004.xml b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mjcf/shampoo_bottle_004.xml
new file mode 100644
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--- /dev/null
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_004">
+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/shampoo_bottle_004.urdf b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/shampoo_bottle_004.urdf
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+++ b/dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/shampoo_bottle_004.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_004">
+   <link name="shampoo_bottle_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>679f1c901c39504aa5dff72bd7237b83</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>shampoo bottle</name>
+         <color>white,golden</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tall cylindrical shampoo bottle with pump dispenser</description>
+         <min_height>0.2363</min_height>
+         <max_height>0.2363</max_height>
+         <real_height>0.2363</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224932</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>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
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