diff --git a/.gitattributes b/.gitattributes
index 7eefd05bbe47d24425c4bf425622a2bf8851bad1..75283afb7a72f3a9b646e396246af7ef7da980dd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2297,3 +2297,5 @@ dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/fa
 dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/shampoo_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34dfee7a921fac34c6cfac4f89d65267c731a227
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_005_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae6dd352bea49c6391b3e3f16d038547ab1ed61b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1e435fd84298599e6546eb12e3e36c553429d760717cbe051dca1611b28f11
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1ac667874936cf58c8ed0b811d84d9cbe8e9d429
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10603752
diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.mtl b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35e8cd19d3db471fee3889014843b7694eeff7e7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_005_geometry_Looks_material_0
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+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/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ae65e4fb4e77460a74f9333a7b585d42cad301
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.obj
@@ -0,0 +1,102684 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_005_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005_collision.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f26f7adfb86b36a8361783fa3eedcdfb80a1b53
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005.obj
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1ab3e71293f9f5a4a69110294e24eb7a8b9045
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision.obj
@@ -0,0 +1,8567 @@
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_0.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34968c3c5a56421d20b4338ffa204c72b0760a5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_0.obj
@@ -0,0 +1,7261 @@
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_1.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b10d3eddd8175a977bf98ceec7753c9e8f8fa6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_2.obj b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9f1dfce24e8e47c8055a8f77ef527a7b04dc88
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/mesh/shampoo_bottle_005_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/shampoo_bottle_005.xml b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mjcf/shampoo_bottle_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d66e4c7786346a03260fdeb60112582909bf8f6e
--- /dev/null
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@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_005">
+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.urdf b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7f239ce22212718216710ab8176cf89cc77386ae
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+++ b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_005">
+   <link name="shampoo_bottle_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_005.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_005_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>236bedd4298e5615b5bffe72019e5a75</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump bottle</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray pump bottle with black dispenser cap</description>
+         <min_height>0.1706</min_height>
+         <max_height>0.1706</max_height>
+         <real_height>0.1706</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224948</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>3</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/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd b/dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd
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