diff --git a/.gitattributes b/.gitattributes
index 597a74ebb70d1af1bc708009bbd8d74f1ad2a720..f5927af67813c8881dd428188a75c492220246c9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2365,3 +2365,5 @@ dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/fa
 dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9a000fef90505eabbe3a86d05edfe66f/hand_sanitizer_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9a000fef90505eabbe3a86d05edfe66f/mesh/hand_sanitizer_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abdc2a123820858cbf4566b850b6f53f7c0a64ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_028_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d4deb1bc43cf8b803b97221692a375f24de8980
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7917f0ac795d5b97cde9a8c01e73317f248fbd3010c2b4a50d30314b7df23976
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.glb b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f4fdbf325d004a9bed5858c910941b6645dc1dccc532432f707136d1598a2a
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.mtl b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60553c3b8cd01fa6152c9dea5ca2a579aeb7a075
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.mtl
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+newmtl shampoo_bottle_028_geometry_Looks_material_0
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+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c61c84d9cd79ca06f132d2bbda7943d5b6e6f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028.obj
@@ -0,0 +1,105696 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_028_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028_collision.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b582229dd2d7026854f2910b74db39b90f4e57cc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/shampoo_bottle_028_collision.obj
@@ -0,0 +1,5883 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b444a7e9bacb69607bb2c4888604c9678057d0a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028.obj
@@ -0,0 +1,105696 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_028_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53447f498ed5bf5453aca48b82515f9ad994ff9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision.obj
@@ -0,0 +1,5883 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_0.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f30023aac0142d07751f878fd56bcc532e417991
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_1.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ec1a260f338633c1789ecc3acd63d79f178343
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_2.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50c8feee1e6ba41134cbb05256ce68bc77237f3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_3.obj b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c728ff777bb4b6f7c1381fd5cfb12a791741a3b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/mesh/shampoo_bottle_028_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/shampoo_bottle_028.xml b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/shampoo_bottle_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3179df60dc6dca7ed472f39d89e4aa8da19e035a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mjcf/shampoo_bottle_028.xml
@@ -0,0 +1,22 @@
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+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.urdf b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d00287f061bb252190b1cb0a933f6a3f23a62aff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.urdf
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+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>a7d61197063a5b0c9a41d7f8b6a3ce4a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>white squeeze tube</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white tapered squeeze tube bottle with flip-top cap</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145642</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030369 -0.045738 -0.097810</min>
+            <max>0.030900 0.045725 0.152190</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd
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+size 4760833
diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/textures/material_0.png b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/video.mp4 b/dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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+oid sha256:e464432ce18a9c6ae32d7a581e0079f9cb456801987429fa5b0f1b421093bd45
+size 135477