diff --git a/.gitattributes b/.gitattributes
index 28ec256facafcfe6d4f5f410be58a87808a0d0c4..f8592c6340c67dd88111fcf4e363f522384e9350 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2375,3 +2375,5 @@ dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/mesh/sp
 dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/sponge_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/facial_cleanser_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/mesh/facial_cleanser_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ccd3a15706211454f983c137cb2a6c7b9019d81
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_011_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d06d349d6c73f510b8bd04bf83925261d3531823
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13248504
diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.mtl b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..972e9f522c15689103c918de243bd69f97a7ee74
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_011_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.obj b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd059183a0baddbd15cab8e1c0463d69c1217e93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.obj
@@ -0,0 +1,115286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_011_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011_collision.obj b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..785dde4def169a273b6a3758bc3ef935719bacfe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011_collision.obj
@@ -0,0 +1,3360 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011.obj b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011_collision.obj b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e921f005788d9fd0b753a224f56c11656a4c1b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011_collision.obj
@@ -0,0 +1,3358 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011_collision_0.obj b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e921f005788d9fd0b753a224f56c11656a4c1b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/mesh/shampoo_bottle_011_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/shampoo_bottle_011.xml b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/shampoo_bottle_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5722077cbc11e3d19d4af1b3c369dd1d8a03857d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mjcf/shampoo_bottle_011.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_011">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.urdf b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_011">
+   <link name="shampoo_bottle_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</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>b11068fda38753529b23c715fddedc07</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>white shampoo bottle</name>
+         <color>white,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white curved plastic shampoo bottle with blue flip-top cap</description>
+         <min_height>0.1687</min_height>
+         <max_height>0.1687</max_height>
+         <real_height>0.1687</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145105</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015442 -0.039806 -0.085450</min>
+            <max>0.015435 0.031435 0.083244</max>
+         </aabb>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.usd b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.usd
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diff --git a/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/textures/material_0.png b/dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/textures/material_0.png
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