diff --git a/.gitattributes b/.gitattributes
index 06d51d287ae516ce80d920c02dfecd3f7bd9bd60..bbb69bc56137f890efcbf6f79ae2d7060634554d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2267,3 +2267,5 @@ dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/so
 dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7735fbfc50959343beb369b36ca183fb0aed20bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_030_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/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/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.glb b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.mtl b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fb1ba2aa9e7203480e521757d4c7fb55d596525
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.mtl
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+newmtl shampoo_bottle_030_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.obj b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90164244cdcc977d2fd0086ea15855c6e1f58d6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.obj
@@ -0,0 +1,109714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030_collision.obj b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3319eff3de67fe020a1eddd53c85db54b85c1f84
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030_collision.obj
@@ -0,0 +1,8845 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030.obj b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030.obj
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision.obj b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887fd505e559144c896389f2aec2e61ae27eb344
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision.obj
@@ -0,0 +1,8845 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_030_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision_0.obj b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad3dae4598f1b2f185dbd5fa8f90036d7b3153f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision_1.obj b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c19edcc3fde5082b26b16487e2b68a0f4b6a0e7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/mesh/shampoo_bottle_030_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/shampoo_bottle_030.xml b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mjcf/shampoo_bottle_030.xml
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_030">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/shampoo_bottle_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_030">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.urdf b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_030">
+   <link name="shampoo_bottle_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>
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+         <uuid>12e797a66058596bb583d8a6b909eaad</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>dove pump bottle</name>
+         <color>pink,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>pink dove pump shampoo bottle with rounded tapered body</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>20260518145746</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035601 -0.057764 -0.094440</min>
+            <max>0.035750 0.058038 0.155560</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</part_count>
+         <visual_seg>
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+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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+         </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/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.usd b/dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.usd
new file mode 100644
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