diff --git a/.gitattributes b/.gitattributes
index 30a30c73f41c03b92b922b1304b676d450321a9c..b3c20f8c019df964510dd6579269b0fb0cb902dd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5243,3 +5243,5 @@ dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/fa
 dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/lotion_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/mesh/lotion_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd948242a3030b0adf3641f9b548169b8ee17046
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_020_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e35c1170cdef138e78f081d11b09fbec03f1b6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/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/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.mtl b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f85e623659068f1040d506b687cb2580e55fefc0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.mtl
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+newmtl shampoo_bottle_020_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb67cabf7101f2dd1721f15c604e89192d4496ea
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.obj
@@ -0,0 +1,111404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_020_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020_collision.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e7ab201629317426d77907335ad03a07ed13c4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e35c1170cdef138e78f081d11b09fbec03f1b6e
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e35c1170cdef138e78f081d11b09fbec03f1b6e
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+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020.obj
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f91c21a3e04e82906d8a5b3a3b0bb4512d546f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision.obj
@@ -0,0 +1,7371 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_0.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205affad011705f23b973e968d5f9516d4f43d2a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_1.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..411b3d1a791137436df4e9491b72cf4efaef771f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_2.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52c8459cd7944c6a5dd47ed19b8c335cd0c4b24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_3.obj b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056e85f9ddd8a1d5acb5b0151a321cd908666663
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/shampoo_bottle_020.xml b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/shampoo_bottle_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c95ac045cca373420d33cf8ffee302632bd3ed65
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/shampoo_bottle_020.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_020">
+      <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/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.urdf b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..47cb995f9ca6f8e967c8bb72fdfbea13c79718d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_020">
+   <link name="shampoo_bottle_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>57ef25116edc52a58c710ea7977a1a08</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>brown pump bottle</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown cylindrical shampoo bottle with pump dispenser and white label</description>
+         <min_height>0.2292</min_height>
+         <max_height>0.2292</max_height>
+         <real_height>0.2292</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145359</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040966 -0.043481 -0.088181</min>
+            <max>0.040960 0.041008 0.141021</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/textures/material_0.png b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/video.mp4 b/dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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