diff --git a/.gitattributes b/.gitattributes
index cbf096622986518852fb63751058da5765a0e8d9..7eefd05bbe47d24425c4bf425622a2bf8851bad1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2295,3 +2295,5 @@ dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_
 dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3b3967db51839acbbe4cb744cab82dac141ed4f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_002_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/214670a6554d54b4bf61f90794847fbb/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..92a887ef7b2dd14555560262f993092ffd30d56b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a40882937a228e4469d169edf88a137224a3896e4efc71b3d9336f1bb3d4b34
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.glb b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d755320bc1ed668f266ebb64f79459f913e8ef7a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6fb90b1ae78d344f813c98f6acd124eb53cad2b803b6a76361246c3e36ca171
+size 13327272
diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.mtl b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5cf77d1bf811c34a6ad2e33991e9fa13db169a05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_002_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
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.obj b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b557dc2843df86d40855ab301f319f4dce99d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.obj
@@ -0,0 +1,114164 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_002_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002_collision.obj b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2b315101ea80f0089503c601116348b0ed3fd3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002_collision.obj
@@ -0,0 +1,3871 @@
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002.obj b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002.obj
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision.obj b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d018dca7001eff89c48bae2c6af21295f9124048
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision.obj
@@ -0,0 +1,3871 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision_0.obj b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9a1379af6b212a4576c4ded0a979ff347e171a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision_1.obj b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25dbf52a09e6b8f09c64c57a5a815f34674a18e5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/mesh/shampoo_bottle_002_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/shampoo_bottle_002.xml b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/shampoo_bottle_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67403a1f52b23d6b45b7d48666f08afbae90ad0c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mjcf/shampoo_bottle_002.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_002">
+      <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/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.urdf b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f3bf742f439d1ab1843a6f8e63799731b7f95a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_002">
+   <link name="shampoo_bottle_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>214670a6554d54b4bf61f90794847fbb</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>golden shampoo bottle</name>
+         <color>golden</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>sleek golden bottle with tapered cylindrical shape</description>
+         <min_height>0.1690</min_height>
+         <max_height>0.1690</max_height>
+         <real_height>0.1690</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224853</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>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/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/textures/material_0.png b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/video.mp4 b/dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/video.mp4
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