diff --git a/.gitattributes b/.gitattributes
index 762f7aba033b46cf6e5664d38d6483814b4b04a8..2e519d6d9b88b6b0de0dbd948ea468a8d7a2258d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5221,3 +5221,5 @@ dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sp
 dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ca32791d91fb9296db2955d6be7f8f96cc522dc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_019_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c582a3d2bc105759315517535ca7b392e915141b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/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/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.glb b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..59780aa2cc325e6cd43e6ca89d049f44e1e5d1ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.glb
@@ -0,0 +1,3 @@
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+size 12503240
diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.mtl b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e63228276b698b6bd75c41f3bed56a3269b83f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.mtl
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+newmtl shampoo_bottle_019_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/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abec703463f322d73227cf14edc8fa1c3036cab6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.obj
@@ -0,0 +1,111278 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_019_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019_collision.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd2ab3f5550d1838ad5ffc32ac950fec4b430f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019.obj
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25432a9f10733059dc05d4a7ddc5a1f76b7539c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision.obj
@@ -0,0 +1,6290 @@
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+
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_0.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326dcda702aa3e4dd6a7001257ce240dab6b4773
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_1.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3126577a5bcf761a4a87529506e2df8f523fb08b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_2.obj b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e6a2a056c7e1a8aadabe80c2dd34d712e6152c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/mesh/shampoo_bottle_019_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/shampoo_bottle_019.xml b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mjcf/shampoo_bottle_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8729f899b11b0cb05fe9875a34ea8efcd95af45a
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_019">
+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.urdf b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_019">
+   <link name="shampoo_bottle_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2400" />
+         <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>40569bec32fb54caae7ad1f3e347138f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>beige shampoo bottle</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige plastic shampoo bottle with cylindrical cap and curved body</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>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145339</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042332 -0.042304 -0.103359</min>
+            <max>0.042573 0.042260 0.125806</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.usd b/dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.usd
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