diff --git a/.gitattributes b/.gitattributes
index 5c066921a82d3050eea2ed7c979301711e2f94c3..9bed67fcea0fd2886dbe19ae292c574dd5fbfa8d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2325,3 +2325,5 @@ dataset/bathroom_supplies/bath_products/73bede559e2b5007884269e740a475cc/mesh/sp
 dataset/bathroom_supplies/bath_products/73bede559e2b5007884269e740a475cc/sponge_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06eee2687666f242f3e7d1a27e88c2d928181623
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_032_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/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/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.glb b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a4741ffad44b58330419c60a6a9bf69dee60932
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12642536
diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.mtl b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df3e43d0221961607de5a4ed4ce09f11d76a971a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_032_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/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35bca71fe1f4f327b16bad8bf5307b78be91a9fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.obj
@@ -0,0 +1,109268 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_032_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032_collision.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee06ed50a2ec71a498063d59661d5ae8beaf26fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032_collision.obj
@@ -0,0 +1,6438 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032.obj
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80277201c71b582aa49e2ffb9a7aaf20ee326f34
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision.obj
@@ -0,0 +1,6438 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_0.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f641109c956d9f0869d301d45c801d1d1b0d021e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_1.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166f73b3d99d7007d6745b4f5b03d0bad1dbfb3a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_2.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d2dfd35bb074401e985b9eb4c06ef63b0eea795
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_3.obj b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2109d5c67685e1611f1a60f2ada86ff4cc975121
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/mesh/shampoo_bottle_032_collision_3.obj
@@ -0,0 +1,2446 @@
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/shampoo_bottle_032.xml b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/shampoo_bottle_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..705effba92c59c14c2d2e6e3272f0c4ceb147a45
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mjcf/shampoo_bottle_032.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_032">
+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.urdf b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.urdf
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_032">
+   <link name="shampoo_bottle_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>76a6193f126c50839f0420c1b8397c25</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>brown,beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown plastic pump shampoo bottle with beige front label</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609165907</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042289 -0.042429 -0.098869</min>
+            <max>0.042019 0.041427 0.141131</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd b/dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd
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