diff --git a/.gitattributes b/.gitattributes
index 3a85f57e699ea516139167b266210e3492b4874f..a58dfe063e11d35f7c09468e85e5e3509fa1f723 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2315,3 +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
diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b8a0e4a5ca6611dbb77bdf5ae5080be61fc6ec0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_039_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87cd280620cc7fbc91ae379670bfdcb72cd921da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8823dd1322dfe9d74e53c275862bd941d491582010f6493d561957b0ede78638
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.glb b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..964743143f08a5e224e74e0985e473b8d9f1cd5b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45843f1c088718a6e4636b38dd5648ef5e217066c4a006e87d86a6a955a8e87d
+size 11316352
diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.mtl b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..713e0ed3776ad292521e461cf8b68781256e5806
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_039_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
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..012f5f6a3a45a4c457e89faa05ef5529d08959cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039.obj
@@ -0,0 +1,104762 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_039_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039_collision.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc50f5496ee55f270e6b7a2cb030dd4c27a87bca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mesh/shampoo_bottle_039_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039.obj
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb193a4839980c26438a86a6ca85f22793c9c687
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision.obj
@@ -0,0 +1,16202 @@
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_0.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c04b76b83508efd786db13c9e34dda36d51c5a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_1.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca7490eb6134eb95a09a9d519bfbfd14abd07ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_2.obj b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..635cdaf5a319db088d27063e6515eb145373d34e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/mesh/shampoo_bottle_039_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/shampoo_bottle_039.xml b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/shampoo_bottle_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c1587446f3548d7b9eaf743d46b37fb8ba9e8adf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/mjcf/shampoo_bottle_039.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/shampoo_bottle_039.urdf b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/shampoo_bottle_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aeccfa166dcdfcd9a7f3a02620bdde5d3db78435
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/shampoo_bottle_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_039">
+   <link name="shampoo_bottle_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>691ac0f4c6275a6e974e6e01a1897581</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pink shampoo bottle</name>
+         <color>pink,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>pink curvy plastic shampoo bottle with gray flip-top cap</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170127</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066562 -0.067509 -0.087180</min>
+            <max>0.066660 0.067521 0.152820</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/691ac0f4c6275a6e974e6e01a1897581/shampoo_bottle_039.usd b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/shampoo_bottle_039.usd
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+size 4962447
diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/textures/material_0.png b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/video.mp4 b/dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/video.mp4
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