diff --git a/.gitattributes b/.gitattributes
index b69018f519113528f0e9d62ba1a24fbe812834b2..56a8c612318b00943dc85580eeb1d62d6a171160 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2305,3 +2305,5 @@ dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/mesh/so
 dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/soap_dish_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/266a05c73e2e5652bf5858bc101215f8/mesh/shampoo_bottle_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/266a05c73e2e5652bf5858bc101215f8/shampoo_bottle_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d717183cab1aa7a5dbe726a3eef1518a50c89fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_015_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/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/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.glb b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.mtl b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae32b716ebc7a3840c6b7ab4419f89a2c2651039
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605b55687215f894feb0b205f587c9270a070e54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015.obj
@@ -0,0 +1,105960 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015_collision.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46cd30d948ab5f22b420fa73461a47b511b55aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mesh/shampoo_bottle_015_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13928b475fd95c2e9333a3bb5f7c7a62ce8aa870
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision.obj
@@ -0,0 +1,9677 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_0.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47387d56bbb55fc82e20d6d83db562b32a9a7b6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_1.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3ca610047ec7447b446c402144faa22bd429d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_2.obj b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44e9b286fd2033bdfd7be26a2ce26f45d35d32b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/mesh/shampoo_bottle_015_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/shampoo_bottle_015.xml b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/shampoo_bottle_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d026c3c3db672f73f1a598b5ffdcbd02f50d8bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/mjcf/shampoo_bottle_015.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_015">
+      <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/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.urdf b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea05801971c16da36189a2db9eceb892353bca7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_015">
+   <link name="shampoo_bottle_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>2739ebf988515ed9946b2676a154b9d5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>ryo pump bottle</name>
+         <color>purple</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark purple pump shampoo bottle with tapered oval body</description>
+         <min_height>0.1737</min_height>
+         <max_height>0.1737</max_height>
+         <real_height>0.1737</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145214</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.017945 -0.029796 -0.077749</min>
+            <max>0.018013 0.029926 0.095907</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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_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/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.usd b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/shampoo_bottle_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e99f838b0aaea193193a917e8388d246f882aacf7afeaf2529934e687617835
+size 4812496
diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/textures/material_0.png b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5ebf250493fee4e18578803f214b0b6bf43e7a2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a9e9a8c399e162a57b6f588bfe2ed19870d2bea344b881cb4a088bf4763504
+size 10426621
diff --git a/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/video.mp4 b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5425ca5744eaab9d8d028aec36fb61560b5a81a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458cf2c192e7ae44767b2b3af4a98ccbae072d5de1888097cafb799c1bf976de
+size 208355