diff --git a/.gitattributes b/.gitattributes
index 312454a484e5e451ca2b505ea58bd78645f71e65..95ecc2a7d6902826f5f565e63c783d3252e962d5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2419,3 +2419,5 @@ dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/mesh/so
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2de8038cd10197f7430afab1cc6da5d3a777947b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..343db68e4e869e19c12cc85a4161b441bdaa5654
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2b9395a132b3c580c0059e1294516a1aa82709f5a6878d884f7ab14509ad0a
+size 6671204
diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.glb b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e53c66e3a754f266d30a89b6c6e6ee0960f5b7d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d23006a9fe67f92c2d09ed04f2bde7dbfbe8905c630470a942a5d66f41f63b41
+size 9938972
diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.mtl b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..adfa342b64ae46c1217c7f8fbeac388144e9de22
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_035_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/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2b7b646c10f90b2d275aea35fb07691b80e5c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.obj
@@ -0,0 +1,105714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035_collision.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd1f57509e505d812aacad6b30120fae7cbc839
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035_collision.obj
@@ -0,0 +1,15782 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18586579cc3f710cfd2cf77981ccbe23557172d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision.obj
@@ -0,0 +1,15782 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_0.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..220a5d2f1573674d3fbedbc2a9ea3c20eaccb038
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_1.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b75ee2d88f540b9eb51ff5bd4b92beb0d2f6102
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_2.obj b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7150e45331fbcf3e80ed720eccb7e4518c5ab70
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/mesh/shampoo_bottle_035_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/shampoo_bottle_035.xml b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/shampoo_bottle_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..49548e98a300f27d588b4f59860adcf0ecffe1d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mjcf/shampoo_bottle_035.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_035">
+      <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/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.urdf b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d50b59c6aa076e7c27e327beb5e69f38eb50bf5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_035">
+   <link name="shampoo_bottle_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>c90f3f366f76587199f6d019708c334d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark oval plastic shampoo bottle with pump dispenser</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170002</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034393 -0.070369 -0.093147</min>
+            <max>0.034556 0.070630 0.146853</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.usd b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.usd
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diff --git a/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/video.mp4 b/dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/video.mp4
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