diff --git a/.gitattributes b/.gitattributes
index 127ad433fe0b16ce9157a9a643f55d8248eecc08..bbc9061175ae68ff6a110ca6dcb07038c12fb47f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2449,5 +2449,5 @@ dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_
 dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/mesh/soap_dish_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/fd92c3189e125d03ae2ca25a172123ab/mesh/sponge_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/fd92c3189e125d03ae2ca25a172123ab/sponge_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..925e69ea43f94bb005f839cce4cbfeb949c59dca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_029_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
+map_Kd shampoo_bottle_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..117c89911b37228c929333d58c8854633f2eacc0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688617549073b055d35d791530f9e3213b8ccb33623eec2f89c8c88aac44d146
+size 8863141
diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.glb b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..193e0594deb371ef0059b8a0e54b0886e2bc0145
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb6f60c74bf61af0eb3d3512435e8b9f8881513f280fff715da1c5c1d88eecb6
+size 12049772
diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.mtl b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe9d33921814dfff531543d9c190d0bbe23e0630
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_029_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
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cbe7fd0d015dceed8757cdd0c8866d12f0cee49
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029.obj
@@ -0,0 +1,109414 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_029_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029_collision.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c64683083f3433a6f5064eac17b53733d9f5295
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029_collision.obj
@@ -0,0 +1,9381 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mesh/shampoo_bottle_029_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebe1f7be8baa5f66f5e85c69d03d42d80a7b9ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision.obj
@@ -0,0 +1,9381 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_0.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c798887363e3d379e806a74f6bca11aadde117b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_1.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6436e8262c7e0c81cb71eab956760f7292c7961
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_1.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_2.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0375eb1164d5ff3b2220c2304da865d32407d76
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_3.obj b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bfb73aa036cf48f5ae34c4e7883b69235c2237
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/mesh/shampoo_bottle_029_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/shampoo_bottle_029.xml b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/shampoo_bottle_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2e106fb3eaf7a5c049536847b06ad0bb78efe047
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/mjcf/shampoo_bottle_029.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_029">
+      <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/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.urdf b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ed7f455be42bac792a188cbe523c89e078d5c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_029">
+   <link name="shampoo_bottle_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</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>fb89e3eceb855857a3618993f4e34292</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pink pump bottle</name>
+         <color>pink,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink cylindrical shampoo bottle with gray pump dispenser</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145724</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045685 -0.045578 -0.098705</min>
+            <max>0.046564 0.045673 0.151295</max>
+         </aabb>
+         <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/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.usd b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/shampoo_bottle_029.usd
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+size 4814769
diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/textures/material_0.png b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/video.mp4 b/dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/video.mp4
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