diff --git a/.gitattributes b/.gitattributes
index 9fc2963bfab8caaa61048ad453b9460969bcbb53..0daa936c4fc573cadc9b4671239f29c99d4bf98b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2317,3 +2317,5 @@ dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/lotion_
 dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mesh/lotion_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4d8576fc7e24047b7926e39512b115532cd1478
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..74667edd25e1c4bf40bc88e9ed5d8ec989d3443c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22410d37d4fc6b4d1fc8381b6769f2b5098e3b7229aa8a960b8e30f312d5559
+size 9283663
diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.glb b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b78eccde3904816d58a15edfe4e6f4bbfcca1d4c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3059c746beba19a5f6af5ae786cec47b9aeac06f18d9003c2b95cd482f272b39
+size 12490028
diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.mtl b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52a87758fed15a0a000b939feae37c7c52dc210e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_025_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/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.obj b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7efaeebc455de7c7bd5d03f9c2d6a74dd83a64f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.obj
@@ -0,0 +1,108562 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_025_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025_collision.obj b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99254ad091cc802abc0a6fe1849285de84380ab6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025_collision.obj
@@ -0,0 +1,3959 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision.obj b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5b5c01a66f06f437cfacec50e7940759c75dea
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision.obj
@@ -0,0 +1,3959 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_0.obj b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366b71358421ca99d39724dba7f46f730b44ae52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_1.obj b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e12e64ca81cf1e648cc7ebf302afe66eefffc78
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_2.obj b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbb8a1ec010a3b24fd1f0071171041fb9be43715
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/mesh/shampoo_bottle_025_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/shampoo_bottle_025.xml b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/shampoo_bottle_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a6b19259980c943843c7d808cb665d1e58e027ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mjcf/shampoo_bottle_025.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_025">
+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.urdf b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8fbe5ab9c990117d0fa805abc8e9894cbf1a83cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_025">
+   <link name="shampoo_bottle_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>6a3026a7947c5316a52b237f2cd03aa0</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>blue,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>light blue plastic pump shampoo bottle with tapered body</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145537</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019555 -0.042195 -0.104157</min>
+            <max>0.019588 0.042209 0.145843</max>
+         </aabb>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.usd b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.usd
new file mode 100644
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+size 4823624
diff --git a/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/textures/material_0.png b/dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/textures/material_0.png
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