diff --git a/.gitattributes b/.gitattributes
index 28b11f9d1abee176dd27bba715f9697d4392e4fb..e6b11eb75b3ab0a9f7b0420389972b01af18c864 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2363,3 +2363,5 @@ dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_
 dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/shampoo_bottle_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afd30fd7a12381f6e9a7acf8c96fe416cc5b77ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_027_geometry_Looks_material_0
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+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/a5ceb097351d53ea9e6809bd89128889/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc3695ca645d65c97e999d29557d048cd1a0466
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba8d3b967e6386dd8c60308e1f2e9b2825e89c90cc9688397d6f840036a9a2a1
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.glb b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..45c0f0ebd1463bdf20cf7f4e9a0dd3f6335ddde5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16324985fd95c25375150aabfa12695d18cdf8127ae5ab817beeea444711359
+size 11280788
diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.mtl b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c79a16ccb5f324c028df69efc310b1b6f78a9be5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_027_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/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.obj b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237fb4aa9d2b2104c6aedc60b569b845988cf276
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027.obj
@@ -0,0 +1,105756 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_027_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027_collision.obj b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb1d97ee819bbd31ae56a3ea5a50deb60aa7cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mesh/shampoo_bottle_027_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027.obj b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision.obj b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7073db47e4ced1c55a5f1305dcc3c7e9d0ef8d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision.obj
@@ -0,0 +1,10387 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_027_collision.obj
+v 0.05785406 0.00201963 0.01154427
+v 0.05756065 0.00604793 0.01154428
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+v 0.05782021 -0.00200876 0.03628630
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision_0.obj b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216db63170bec1fa41bb8bf4db84b6cf69eedfca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision_0.obj
@@ -0,0 +1,1615 @@
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision_1.obj b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4821f32c973f86ae4eb67139c6dfea85bd6b4ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/mesh/shampoo_bottle_027_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/shampoo_bottle_027.xml b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/mjcf/shampoo_bottle_027.xml
new file mode 100644
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@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_027">
+      <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/a5ceb097351d53ea9e6809bd89128889/shampoo_bottle_027.urdf b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/shampoo_bottle_027.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/shampoo_bottle_027.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_027">
+   <link name="shampoo_bottle_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <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>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a5ceb097351d53ea9e6809bd89128889</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>green shampoo bottle</name>
+         <color>green,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>rounded green plastic shampoo bottle with black cap and beige front label</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>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145621</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057136 -0.056553 -0.102907</min>
+            <max>0.057577 0.056564 0.147093</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
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+            <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/a5ceb097351d53ea9e6809bd89128889/shampoo_bottle_027.usd b/dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/shampoo_bottle_027.usd
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