diff --git a/.gitattributes b/.gitattributes
index 088ce3a9e75dfef5bdb0a8a2721b6215b56eb2e4..dc49c11df480b1ab99513a74cf32346a93d72732 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2335,3 +2335,5 @@ dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_
 dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/mesh/sponge_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/sponge_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f6709c4ae62d2c96e152e9228dd4b78a02e3881
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_036_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
+map_Kd shampoo_bottle_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83f438db894e202fb9b10c7a0eb1fc8c330c7bfa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abaf1f19bfef17a6111381086068202774f3b7f5f86884d189d826acf824b656
+size 9275938
diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..87605653d2f4512d47f2d585838c2c07ed5e3444
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4850cc56ad6d4ebb9343156986e8434a5fd41c6d10b38c98c4a4c10ebad45c35
+size 12481952
diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.mtl b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14a670f76506567ed945340a4a0ec02268099549
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_036_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/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ad9adb7b2fea83adb268ac1f55703d8a42f338
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.obj
@@ -0,0 +1,108724 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_036_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036_collision.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba484e0ee4eb9a5fc197f4886e7d8f2076aa4ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036_collision.obj
@@ -0,0 +1,6375 @@
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..83f438db894e202fb9b10c7a0eb1fc8c330c7bfa
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036.obj
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index 0000000000000000000000000000000000000000..91fb117e1d2f7c767626d8f1993c92ba43531352
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a7233762a278700bfa79272388481c83f1358a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision.obj
@@ -0,0 +1,6375 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_0.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b594e7e7d8e236c651f117fdceaaf6bd8113755
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_1.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a2228b77f13ce353a15d2240a045a8fe1d08f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_2.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd2645de05c15cdd85319aca9a1525a160b89a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_3.obj b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8696e412055c88b60d571bf9f6a4807998dc1025
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/mesh/shampoo_bottle_036_collision_3.obj
@@ -0,0 +1,2809 @@
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/shampoo_bottle_036.xml b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/shampoo_bottle_036.xml
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mjcf/shampoo_bottle_036.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_036">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_036">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.urdf b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.urdf
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+++ b/dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_036">
+   <link name="shampoo_bottle_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_036.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_036_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>848777723d095fada54b4921cdc92ded</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>brown pump bottle</name>
+         <color>brown,beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown cylindrical shampoo bottle with ribbed pump cap and beige label</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>20260609170021</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041334 -0.040936 -0.103254</min>
+            <max>0.041052 0.040970 0.136746</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
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+            <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
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