diff --git a/.gitattributes b/.gitattributes
index e4899c360bfc7c2d12bea97f03230951882568f6..2b2ec0ea923de6d92f5eb87e1558a5f76880aec8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5203,3 +5203,5 @@ dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/mesh/fa
 dataset/bathroom_supplies/bath_products/34b0e64c365955829652aa4c50b9ca79/mjcf/mesh/facial_cleanser_030.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/soap_dish_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07e1e575b171e7291e27d74d8a3327390ff43bd7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..72e7ca21a7fc5d888c74fa75fe3fce8a16d8c3ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/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/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.glb b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..93872927f225445fb13e08f7969e1323f3c4b6f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12262156
diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.mtl b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0d2f95dc231fef7bb8ad2c3c75495ae2f339455
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_003_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/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2b7f19c75515f392c98cfda1d89613ee3ffb55
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003.obj
@@ -0,0 +1,114118 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_003_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003_collision.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90c8804be1a5d0f0c9f8c08b492f463824dad26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003_collision.obj
@@ -0,0 +1,4707 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mesh/shampoo_bottle_003_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6957c85ae7a0a61b84a2811d299ef790679343e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision.obj
@@ -0,0 +1,4707 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_003_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_0.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5c241ca61ceb901ff7070774d7c7c97c40b7c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_1.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42aeabbd59191535daf009d9524f8a2a16fc876e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_1.obj
@@ -0,0 +1,985 @@
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_2.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9368ac8508216a45a522623db46494662ab6b435
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_3.obj b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ff2590b0df83094f64a7a1afba7be21303b203
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/mesh/shampoo_bottle_003_collision_3.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/shampoo_bottle_003.xml b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/shampoo_bottle_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a81b3e353bbdf2697a2d2d00f1ad1c9aecfcd396
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/mjcf/shampoo_bottle_003.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_003">
+      <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/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.urdf b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3bbfc75c36939fcb75937db38371ba9715cd56ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_003">
+   <link name="shampoo_bottle_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>36458efd1e175bbb8a37736a80ecc6c9</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>white shampoo bottle</name>
+         <color>white,golden</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical white bottle with golden pump and decorative accents</description>
+         <min_height>0.2280</min_height>
+         <max_height>0.2280</max_height>
+         <real_height>0.2280</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224910</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>8</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/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.usd b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/shampoo_bottle_003.usd
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47054eb10f3d1ee8f9222f5450e5f00e84ccee9e26e0a0af343a4009250e2c9e
+size 4724302
diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/textures/material_0.png b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/video.mp4 b/dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/video.mp4
new file mode 100644
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