diff --git a/.gitattributes b/.gitattributes
index d7e208c1d9be19e63aadd0591e283917c1606a24..c5f8ca41345d799fffeefea54b51599207b89193 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2409,3 +2409,5 @@ dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/hand_sa
 dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/mesh/hand_sanitizer_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/mesh/hand_sanitizer_027.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/mjcf/mesh/hand_sanitizer_027.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edb22f7d29cd809f12d52b0b47a17afe98e1d355
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..575c9c317260b2a494d87ec69c3ee4d548aafdf1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39a3156fb3e014296f107ff54f8ead0d60d18df7182505f273976acd088440f
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.glb b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ab73f742dd687f09373d95e95cb713b29f8410d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12376348
diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.mtl b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e0f15bbaec58279d2491c3e88644b055d9d50bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_006_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
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9e8a44bad7fc3e5c504c556635db3566206b26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.obj
@@ -0,0 +1,115330 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006_collision.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e30129ef88d828ddc8ec6c59eaf5052688fd0c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006_collision.obj
@@ -0,0 +1,6857 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..575c9c317260b2a494d87ec69c3ee4d548aafdf1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39a3156fb3e014296f107ff54f8ead0d60d18df7182505f273976acd088440f
+size 9009590
diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..575c9c317260b2a494d87ec69c3ee4d548aafdf1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39a3156fb3e014296f107ff54f8ead0d60d18df7182505f273976acd088440f
+size 9009590
diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c9255f1d061c2585cf622a76f41a61cf350dae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76c90661dfdf6adb8e575d087f806d9b31acb74
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision.obj
@@ -0,0 +1,6857 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_0.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c738d33c1a52992c0f78850b802d497278d3c8e7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_1.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b463c9ca2f05a86e0013bf521a530a59431a9e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_2.obj b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3fa7d75880d244773f46d6d670f0ceddab484c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/mesh/shampoo_bottle_006_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/shampoo_bottle_006.xml b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/shampoo_bottle_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..70abea9a8f9a3b6178ada680cec492a8c20948f1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mjcf/shampoo_bottle_006.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_006">
+      <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/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.urdf b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..528dd7520e93738a09822a7fb113e4b42504c86a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_006">
+   <link name="shampoo_bottle_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>c008859287615c6eb4a9ecdbe87e6730</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump bottle</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white pump bottle with rounded body and dispensing nozzle</description>
+         <min_height>0.2302</min_height>
+         <max_height>0.2302</max_height>
+         <real_height>0.2302</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225007</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.usd b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.usd
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/textures/material_0.png b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/video.mp4 b/dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/video.mp4
new file mode 100644
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