diff --git a/.gitattributes b/.gitattributes
index 66b071271c9f933e73bf23028b8d052437595ca5..11cc88dc5d7855d45aa2ce7e7ff7666a47cd2d22 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2337,5 +2337,7 @@ dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/mesh/sp
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/sponge_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/822f7a3240135d90b768a37b7ba3217d/mesh/sponge_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/822f7a3240135d90b768a37b7ba3217d/sponge_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c568fbaac96011d39c5d85bc15828eb47a51fe59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_021_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/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/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.glb b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..87c1a8617eda6d895dabbaf121553e4aade1bcaf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10474952
diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.mtl b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c69cea65b56b8317502c6a2d3270c74f92741070
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_021_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/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.obj b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdd89a82e298e77eec2bcec01f1914cbfdd1633
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021.obj
@@ -0,0 +1,106990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021_collision.obj b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d392527bf9e77be4924dcaeeebbd13ecea5e2335
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mesh/shampoo_bottle_021_collision.obj
@@ -0,0 +1,7601 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision.obj b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed7190ad807894a0e5a2082c267d18c8a6b0db0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision.obj
@@ -0,0 +1,7601 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_0.obj b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ac3e60f279022146da53d7a812f54536c5fa46d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_0.obj
@@ -0,0 +1,6175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_1.obj b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16c79d3cb9830522a0b1acac139db311ba1e945
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_2.obj b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20d2e3e39f22e58239c17574c2c7e5c6198dfae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/mesh/shampoo_bottle_021_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/shampoo_bottle_021.xml b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/shampoo_bottle_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47d4222e2566e54de4c08f0d0fe3f6203d3d9a9a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/mjcf/shampoo_bottle_021.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_021">
+      <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/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.urdf b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1bce0e955ce6c259f0b45e65cf789b56a06b9e92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_021">
+   <link name="shampoo_bottle_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2900" />
+         <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>8510dffb9d6f552ba4c1ae0967d224d7</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>green,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>light green cylindrical shampoo bottle with gray pump dispenser</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145418</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039708 -0.041063 -0.099963</min>
+            <max>0.040011 0.039900 0.150037</max>
+         </aabb>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.usd b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..99e213ced7720b25404380af855afba30a398b68
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/shampoo_bottle_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039158193b32c99ccbb307ab0e1ec5cf41e12ad57c86ca5d569aa726ff6f4a2f
+size 4826904
diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/textures/material_0.png b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb10fd782d8ff2fbbaa50674c68b6a250b901ca8e60b96b56a9accc12cf1f81
+size 7261140
diff --git a/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/video.mp4 b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2182eaed628b57aebe2a45c5568bebf4e16e4f06a84a41d4584b6f729c7a1153
+size 73717