diff --git a/.gitattributes b/.gitattributes
index a58dfe063e11d35f7c09468e85e5e3509fa1f723..9fc2963bfab8caaa61048ad453b9460969bcbb53 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2315,5 +2315,5 @@ dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/sh
 dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/shampoo_bottle_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/lotion_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mesh/lotion_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/shampoo_bottle_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a48d3293f52677bf58b7b4d552a3a8176fa5143e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19e279e152dd540b3edc00a540678ff3d5ee99ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b069ef50efa59bf706db9ac507bdc2648628d22f1575be83ef36a63866cd1cd
+size 9759421
diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.glb b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9b584504b036f8e958fa31be8612f2e365b2dea8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f555e940c9e985c648d02bae263a0302de317804f9e76f20b76771550fdca407
+size 13065720
diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.mtl b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..51af03012c4ec4ab5d3b3c972bc51436af5240cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_016_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/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac14954ce22c9499348ca2b0eddd5ab5266f15c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016.obj
@@ -0,0 +1,110222 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016_collision.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f854b6fcf3ec0986cc367d4fefbc0c77ccb06d73
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/shampoo_bottle_016_collision.obj
@@ -0,0 +1,3987 @@
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016.obj
@@ -0,0 +1,110222 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72666662f4c9e4e17620b212f09a4c6a26cfcb2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision.obj
@@ -0,0 +1,3987 @@
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_0.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4c44f85a37a19ab53c87a598b64138074ea23a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_1.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19770577f06c022ee1afac832d3707aa6c2a3296
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_1.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_2.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec898b62e142db6322de1460f086daa431c2935
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_2.obj
@@ -0,0 +1,1468 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_3.obj b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44166cc048b2bfc16863a7da7c5518863c1ce6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/mesh/shampoo_bottle_016_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/shampoo_bottle_016.xml b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/shampoo_bottle_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73f40c4c49f9063e47634478b491f3c83123b50a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mjcf/shampoo_bottle_016.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_016">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.urdf b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e9e36400b6cb7b65b0351949343f7d21a14a433b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_016">
+   <link name="shampoo_bottle_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_016.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_016_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>67524b1a715d5c80a91070f5dd319ed8</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tall beige pump shampoo bottle with curved waist and metallic accents</description>
+         <min_height>0.1742</min_height>
+         <max_height>0.1742</max_height>
+         <real_height>0.1742</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145233</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026384 -0.026257 -0.071913</min>
+            <max>0.026219 0.026086 0.102332</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.usd b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.usd
new file mode 100644
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+size 4886000
diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/textures/material_0.png b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/video.mp4 b/dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/video.mp4
new file mode 100644
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