diff --git a/.gitattributes b/.gitattributes
index 56006502b10f5ea7f57b147ce1c7e49e904ca0bd..2b0930dd4e4187a51ff73ce0cd2e505c25fb37be 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2289,3 +2289,5 @@ dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/ha
 dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/1c135e8544d058a1a544ada07663f32e/mesh/sponge_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/1c135e8544d058a1a544ada07663f32e/sponge_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/shampoo_bottle_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55922c18bad6b4c6e9a02c588375cfb1d18a4762
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_026_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9798a524d03b52607964d87e602d1dd8637f14f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aab8809ad730623033d7b1b36d6971e5584db54e97871bb5e11abff69fd7aa04
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.glb b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b169e1ce7c9d415fb12935aede5239b1353022e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec0a09bbaf4521023483a751db3a12c90a3f06ee2ed4731df3eb05e41219ef1
+size 12308900
diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.mtl b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c124e57fc0644cfe998a20d8f2144c13ab98a90
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_026_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/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.obj b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63306c54234d69f5d5741dd09c2acfabced562c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026.obj
@@ -0,0 +1,112572 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_026_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026_collision.obj b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246165e7ad72eccd6ec935389a3e4261820115a4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026_collision.obj
@@ -0,0 +1,10579 @@
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mesh/shampoo_bottle_026_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aab8809ad730623033d7b1b36d6971e5584db54e97871bb5e11abff69fd7aa04
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026.obj b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026.obj
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index 0000000000000000000000000000000000000000..2356fef90ca7809cca97f760f43be31d5229447b
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+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_026_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision.obj b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3958978ff8138fdfc0127a6a1f1301fb8b1ef4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision.obj
@@ -0,0 +1,10579 @@
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision_0.obj b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4972a5765e06d53b5729b895db3960a58c8e13eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision_1.obj b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f6bfad6490075c0946f57d2d03ed630d779762
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/mesh/shampoo_bottle_026_collision_1.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/shampoo_bottle_026.xml b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/shampoo_bottle_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d4ae3ff32e3534f66c7f09e8e049a1543fe2db29
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/mjcf/shampoo_bottle_026.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/shampoo_bottle_026.urdf b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/shampoo_bottle_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1fb5ace91fdf10a3813eb672a4f6b711e4a8bd7b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/shampoo_bottle_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_026">
+   <link name="shampoo_bottle_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>1f4801f365ff520ba8eb691d2934f4ac</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pink floral bottle</name>
+         <color>pink,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink cylindrical shampoo bottle with gray cap and floral print</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145601</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048771 -0.048995 -0.106273</min>
+            <max>0.048775 0.048989 0.143727</max>
+         </aabb>
+         <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>
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\ No newline at end of file
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