diff --git a/.gitattributes b/.gitattributes
index 911b69ba6f0572d631249e797600256cdf1de15b..6aedbb20f4fd37dc42e461010b932161853e5dd5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2417,7 +2417,5 @@ dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/sh
 dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/mesh/soap_dish_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..593d599632fd7a662b06986ed02c04c86ebc2ead
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_010_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e479c719356a8ccad599456f9d7c0f8b78ad4dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7fc5ca43c3062cefd7d9bf599f766355fd568e18da46aece7ab9f590f81396
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.glb b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..78664229a2718756df673f04bd344388308390ab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4c98424541596a0a4351b1dd24c4b7282e71d7bf6687ccb78f9a19107075d53
+size 10576876
diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.mtl b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebb57cf9aa1538655d65c1069b8007ce08de3496
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_010_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3ac19e82d6f0e37c8650f3435d839350c44bfa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.obj
@@ -0,0 +1,105486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010_collision.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b790f2224587b96e74ad936441ed1cb793aac42
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcf567363f7d4819dc3c519d98b3ccc6c4259f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision.obj
@@ -0,0 +1,3585 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_010_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_0.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072ebd1c91df58115d3f60ed64cb3a1ef1bc993c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_1.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e849b42314f2ca17eaf39ee589bb495d7395b995
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_2.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5792693c456e0070a34733ba55dd2d2c491131a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_3.obj b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea5f309e115bb06b4082fdad798baf0f92b51df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/mesh/shampoo_bottle_010_collision_3.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/shampoo_bottle_010.xml b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/shampoo_bottle_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7a1a756a030b859b2e3a21c52d1f30ce73ac6f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mjcf/shampoo_bottle_010.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_010">
+      <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/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.urdf b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dab9f147e33e4fa5261e94125b33028df4a6a177
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_010">
+   <link name="shampoo_bottle_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>c60266d9d3b05558ab487ea4d9f95c19</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>ginger shampoo bottle</name>
+         <color>beige,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular bottle with pump, ginger design, and chinese text</description>
+         <min_height>0.1931</min_height>
+         <max_height>0.1931</max_height>
+         <real_height>0.1931</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225118</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.usd b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f173e3117473bf91b449476182f08182a0d06ca2759a55b5a47d53aa514b4f3
+size 4551280
diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/textures/material_0.png b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7fc5ca43c3062cefd7d9bf599f766355fd568e18da46aece7ab9f590f81396
+size 7822844
diff --git a/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/video.mp4 b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4367dcf61f8417ac4169952feba8bc045306fa5
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+++ b/dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7ac192d1299fe3435eeb397dd3fc0785f9cbb020d12da3c500e8673d05d1fd33
+size 205150