diff --git a/.gitattributes b/.gitattributes
index 7a1ee225298280d9ab050bf480327458fe984b94..c776eb9bd928f6fd6cabe02a7b21b42c38a58d75 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2313,3 +2313,5 @@ dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_
 dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a2f90b3634b43bc1aa0e749c657679668444b1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bfdb319e018543662d2fcbe721db16409b10804
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4772f796587edddcb9db67f94706da98c330a9ec20984cb6b49d55b23efd3177
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.glb b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..004fce4f2672586d4006096dc12d6a6f7ec26110
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f26517cf1d537bfbd75ad04a00893fe8c49220864ac7d3e1d4070e98f27f1db4
+size 9097816
diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.mtl b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b30521f5683aa3424d7f6edf10018479f89d7880
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_037_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
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc7a57a6fbfe5fae6a5dcdbed42caf0489f1cd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.obj
@@ -0,0 +1,105404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_037_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037_collision.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb37a0953803c22ceb6012a73388b6f7e26f0e5b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037_collision.obj
@@ -0,0 +1,4244 @@
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bfdb319e018543662d2fcbe721db16409b10804
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+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d999bd840041e15129f3ca0cec9577a8b890e2e1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision.obj
@@ -0,0 +1,4244 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_037_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_0.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bff6784bcbeb199b8f1a39414e440d52c0a5dde
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_0.obj
@@ -0,0 +1,2326 @@
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_1.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90d941df8e74a9bd65740e07a4b3095475372a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_2.obj b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7838d7ebc43e1d054725ba30063ffc459d528c88
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/mesh/shampoo_bottle_037_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/shampoo_bottle_037.xml b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/shampoo_bottle_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..52c20ea91e7802cad1710a726d84bd6f76c4d4d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mjcf/shampoo_bottle_037.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_037">
+      <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/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.urdf b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35616ff3e5cf23edab0edff73826237dd633a980
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_037">
+   <link name="shampoo_bottle_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>31ef01fdb67655b3b321010890ef24c1</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>black shampoo bottle</name>
+         <color>black,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tall black tapered shampoo bottle with small cap and white label</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170041</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041092 -0.040491 -0.098744</min>
+            <max>0.040841 0.040501 0.141256</max>
+         </aabb>
+         <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/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.usd b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a77d1827c116c7a54368bb391eabf9d9d0d460823e750ada0c9990a53d21218
+size 4774757
diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/textures/material_0.png b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bfdb319e018543662d2fcbe721db16409b10804
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5965208
diff --git a/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/video.mp4 b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f490f72f4f5554b437695cd5204ded4a85c0af9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe07bb2236c0e51ee79a20a78556459a86258417fde85082b25de72273e3b595
+size 69251