diff --git a/.gitattributes b/.gitattributes
index ca9b909179f838cf10de2f169df8e5dbbabdc0c6..e39ff48436e216fa7f94dfcea7b4e11cb55862fa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2341,5 +2341,5 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/so
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/mesh/shampoo_bottle_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/shampoo_bottle_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..08b6fe1d481342081db530137ba2c27e5dbdb670
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_024_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a2bc77de8c27a34ef5c9b2554e9384f28f3c47e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a785f486f04e6eedb9535fb2f9aa699e6361c167d52f9e0f98431db741eb778f
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.glb b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d39a121656e91e56f8f84f096a17b782ef51a0d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12068796
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.mtl b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0009525a1d77c9a190d73611aa88c931254a2ef5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_024_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/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9a1b92512d6b49a22cb00132a60b74800c1258
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024.obj
@@ -0,0 +1,108896 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_024_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024_collision.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d96f7754d84aef704ecd6842777e757e172ce2c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mesh/shampoo_bottle_024_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b44355a6ffc5d62837216b5fac9ce601ca329a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision.obj
@@ -0,0 +1,8853 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_0.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0632bf32aaa70a09cf2890daf0dd5998178cd6fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_0.obj
@@ -0,0 +1,7411 @@
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_1.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11ce77e7011a0536a1eb4bd5042d28ced7529f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_1.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_2.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9688ea16a54b5a03096ccbe0b74b3411e1516bc3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_3.obj b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d814c0105ea1469b9186f9568f95f71016d126
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/mesh/shampoo_bottle_024_collision_3.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/shampoo_bottle_024.xml b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/shampoo_bottle_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73ed4b9ccbc0194fbb20c00fb02d756669d44cd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/mjcf/shampoo_bottle_024.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_024">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.urdf b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..380c9492a91d463bd912b8b5f7cd4be154697b99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_024">
+   <link name="shampoo_bottle_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>86c0643bf0535a87a754fd48ea341754</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>green,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>green cylindrical shampoo bottle with white pump and front label</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145519</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049416 -0.053757 -0.094526</min>
+            <max>0.049298 0.048694 0.155474</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.usd b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/shampoo_bottle_024.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:07e8cd021217ed3903618679f5bab1f0df96097f0125810f3dd2eb81407e9767
+size 4862071
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/textures/material_0.png b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/textures/material_0.png
new file mode 100644
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+size 8802515
diff --git a/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/video.mp4 b/dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/video.mp4
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+size 162458