diff --git a/.gitattributes b/.gitattributes
index 7244ff970ebe612f96d1e58ed79927cfc5a268f4..497a7f1e0b7d7706d265cf0ab1b7f4acaaf9164c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2353,3 +2353,5 @@ dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/fa
 dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mjcf/mesh/facial_cleanser_029.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/mesh/soap_dish_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/soap_dish_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/shampoo_bottle_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..815a3f717a8ddb0c4564f79f9926da0ee2804296
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_009_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf6f75d1c2318d9ae2de6396bf9dd2f11df7fe33
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50a06b620151f20fac1285fda752ef14b88fb2b1fa95682567b109d9da50601
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.glb b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..202a28c75e42ef54d399ffd8b1b7c44749e7f78f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11900804
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.mtl b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7d0ef37f577c2f7fdc6b082594537fd775b1f67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_009_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/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dafa5449e851926a02d6efb81e6714e7fa7d67f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009.obj
@@ -0,0 +1,109204 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009_collision.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463531645aaeb4691f150f929179fa0c86db2c06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mesh/shampoo_bottle_009_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f6579308c0ba9d08b047f1a7dfa48f7f618614
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision.obj
@@ -0,0 +1,6493 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_0.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52e7edaad1d3db7fb3f93ac0cdd3d5fd2b2bfdd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_1.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f9235bab7f68a9352df9beef772012a75b17f78
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_1.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_10.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050de748d94247b4cfaa1ff84ac1fc544cfd7121
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_10.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_11.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e216334f740bd871fc3e1954bfadd9d129ba2b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_12.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99a8e593ed0d979c609cddf1acadff02032aa37
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_12.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_13.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d924929d8c50b074486340fe0e0d7c4ed561225
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_13.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_14.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df747ce76827cf22bbf823e00d5d56834501643
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_14.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_15.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638d7444a11cdcf225cf97798fd3ced8199199ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_15.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_16.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8daaf948cebcee6d91f44be52c999ccdabdfb27a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_16.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01208440 -0.01140181 0.06378377
+v 0.01714560 -0.01140186 0.07645147
+v 0.02006050 0.00015160 0.07645151
+v 0.01693616 -0.00372816 0.06378380
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+v 0.02860344 -0.01140186 0.07645147
+v 0.01750108 -0.00311961 0.06378380
+v 0.02966794 0.00015160 0.07645151
+v 0.02297540 0.00015162 0.07137575
+v 0.02182443 -0.01127060 0.06378377
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+v 0.03003879 -0.00918257 0.07645148
+v 0.01982992 -0.00281760 0.06378380
+v 0.02386697 0.00015162 0.07042954
+v 0.02993887 -0.00085173 0.07645151
+v 0.02980437 0.00015160 0.07632998
+v 0.02196085 -0.01106700 0.06378377
+v 0.02285435 -0.00968022 0.06378377
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+v 0.03171433 -0.00510141 0.07382867
+v 0.03035007 0.00015161 0.07382869
+v 0.02386313 -0.00525294 0.06378379
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+v 0.02973328 0.00015162 0.07143899
+v 0.02251040 -0.00314676 0.06378380
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+f 1 35 22
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+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_17.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b136c3689321bed0a249ca7e7857315c21223db0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_17.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00959611 -0.03070113 0.07383006
+v -0.00959611 -0.03029121 0.07249127
+v -0.00671335 -0.03028366 0.07249127
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+v -0.00671335 -0.02977364 0.07666781
+v -0.00959611 -0.02978497 0.07667926
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+v -0.00293368 -0.03017976 0.07249127
+v -0.00293368 -0.03056323 0.07383006
+v -0.00293368 -0.02971130 0.07661714
+v -0.00293368 -0.02773351 0.07851662
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+v -0.00959611 -0.02778829 0.07857873
+v -0.00959611 -0.02931083 0.07713042
+v 0.00840179 -0.02178122 0.07249130
+v -0.00959611 -0.01140302 0.08214397
+v 0.00084422 -0.02998708 0.07249127
+v 0.00462389 -0.02976607 0.07249127
+v 0.00084422 -0.03034222 0.07383006
+v 0.00840532 -0.02940339 0.07638665
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+v 0.00840532 -0.02748983 0.07828449
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+v -0.00671335 -0.02201360 0.08374753
+v -0.00959611 -0.02203438 0.08376061
+v -0.00959611 -0.02386105 0.08211777
+v 0.00840532 -0.02178122 0.07249130
+v 0.00840179 -0.01140302 0.08196743
+v -0.00959611 -0.01140305 0.08882480
+v 0.00462389 -0.03009665 0.07383006
+v 0.00840532 -0.02951105 0.07249127
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+v 0.00840532 -0.02566316 0.07994532
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+v -0.00671335 -0.01807314 0.08728657
+v -0.00959611 -0.02153191 0.08421014
+v 0.00840532 -0.01140490 0.08196743
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+v -0.00671335 -0.01140305 0.08917135
+v -0.00959611 -0.01240800 0.08881172
+v -0.00671335 -0.01240800 0.08917134
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+v -0.00959611 -0.01603300 0.08786687
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+v -0.00959611 -0.01721175 0.08746311
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+v 0.00566176 -0.01140305 0.08917788
+v 0.00188385 -0.01140305 0.08918933
+v 0.00840532 -0.01536618 0.08779005
+v 0.00462389 -0.01140305 0.08918279
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+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_18.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e402972f4240da33e084365a6d106963c46674dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.01218072 0.03066848 0.07259442
+v 0.01218072 0.03026978 0.07104723
+v 0.00840044 0.03024183 0.07107569
+v 0.00840044 0.03062140 0.07259442
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+v 0.01536140 0.03018150 0.07259442
+v 0.01471355 0.02654755 0.06752336
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+v 0.01631594 0.02970040 0.07259442
+v 0.01854896 0.02693153 0.07125679
+v 0.01614364 0.02795699 0.07003042
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+v 0.01218072 0.02382135 0.06378389
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+v 0.01594033 0.01564119 0.07259437
+v -0.00948094 0.01588987 0.06378386
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+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_19.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0217c4f3711eb7b94c5d76f81a02630ccd1f81a9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00462389 0.01144824 0.08918242
+v 0.00270394 0.01144824 0.08918242
+v 0.00747660 0.01144824 0.08892097
+v 0.00462389 0.01316663 0.08917918
+v -0.00093052 0.01144824 0.08917430
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+v 0.00747660 0.01316663 0.08884302
+v 0.00499474 0.01713303 0.08794341
+v 0.00084562 0.01661485 0.08813828
+v 0.00084562 0.01316663 0.08916780
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_2.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b462a3e7ab28a0bad93cf9b7fdae9fdfb736118a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_2.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_20.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1f86366fd728bd2bbc044631970be61f82450c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
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+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
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+f 23 35 36
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+f 23 25 24
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+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 27
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+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 33
+f 31 33 32
+f 33 46 45
+f 33 45 47
+f 33 47 48
+f 33 48 34
+f 35 49 37
+f 35 37 36
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 39
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+f 42 57 56
+f 42 56 43
+f 43 56 55
+f 43 55 44
+f 44 55 45
+f 45 55 54
+f 45 54 53
+f 45 53 47
+f 47 53 48
+f 48 53 58
+f 50 58 52
+f 50 52 51
+f 52 58 53
+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_21.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93164aba7a85b93f0ee8d9d683029f51b4ff380
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_21.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00747660 0.00978529 0.08907361
+v 0.00747660 0.01144807 0.08892093
+v 0.00462389 0.01144807 0.08918243
+v 0.00462389 0.00978529 0.08918568
+v 0.00747660 0.00978532 0.08259463
+v 0.00747660 0.01144810 0.08222917
+v 0.00270394 0.01144807 0.08918243
+v 0.00112812 0.00978529 0.08918731
+v 0.00084562 0.00978535 0.07259597
+v 0.00084562 0.00978583 0.07259597
+v -0.00293368 0.00979788 0.07259597
+v -0.00301791 0.01144810 0.08280090
+v -0.00265118 0.00978529 0.08918080
+v -0.00093052 0.01144807 0.08917431
+v -0.00296963 0.00978535 0.07259597
+v -0.00301791 0.01144807 0.08915482
+v -0.00301791 0.00986002 0.08313873
+v -0.00301791 0.00978529 0.08917756
+v -0.00301791 0.00978531 0.08315498
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 19
+f 1 19 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
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+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 7 14 13
+f 9 15 11
+f 9 11 10
+f 11 15 12
+f 12 15 17
+f 12 17 19
+f 12 19 18
+f 12 18 16
+f 13 14 18
+f 14 16 18
+f 15 19 17
+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_22.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da993739a8b51ce838ef6d964dbda5531e3c7936
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_22.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00917187 0.00978596 0.06378384
+v -0.00404600 0.00978593 0.07110322
+v -0.00580237 0.01222433 0.06378384
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+v -0.00296998 0.00978592 0.07259435
+v -0.00293417 0.00979795 0.07259435
+v 0.00909362 0.01563976 0.06378386
+v 0.00911869 0.01562543 0.06378386
+v 0.00911869 0.01563976 0.06380025
+v 0.00084354 0.00978592 0.07259435
+v 0.00911869 0.01563976 0.06378386
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 10 6
+f 6 10 9
+f 6 9 7
+f 7 9 11
+f 8 11 9
+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_3.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afa705baaab723ffd8823e4fc58d6d52da92f80c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_3.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02572102 0.01563972 0.07259414
+v 0.02751219 0.00978511 0.07393221
+v 0.02763063 0.00977450 0.07393221
+v 0.02767011 0.00978511 0.07382790
+v 0.02607842 0.01452853 0.07259413
+v 0.02563582 0.01562457 0.07160076
+v 0.02563167 0.01563973 0.07161368
+v 0.01594437 0.01563972 0.07259414
+v 0.01894906 0.00978511 0.07393221
+v 0.02775530 0.00951072 0.07382789
+v 0.02928674 0.00442015 0.07393219
+v 0.02925141 0.00429130 0.07186596
+v 0.02605141 0.01316418 0.07099479
+v 0.02470491 0.01316419 0.06909644
+v 0.02173971 0.01158912 0.06418020
+v 0.02561712 0.01563973 0.07158388
+v 0.00912047 0.01563976 0.06380075
+v 0.02209503 0.00015274 0.07393217
+v 0.01901970 0.00953043 0.07393221
+v 0.02874648 0.00625142 0.07382788
+v 0.03031946 0.00015274 0.07393217
+v 0.03034856 0.00015274 0.07382786
+v 0.02928881 0.00442621 0.07382788
+v 0.03019895 0.00015274 0.07288316
+v 0.02973141 0.00015275 0.07143779
+v 0.02196413 0.00953350 0.06378483
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+v 0.02123893 0.01193932 0.06378483
+v 0.02113296 0.01402526 0.06488849
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+v 0.00912047 0.01563976 0.06378485
+v 0.00912047 0.01562460 0.06378485
+v 0.01333865 0.00968055 0.06378483
+v 0.01649503 0.00675021 0.06378481
+v 0.02297400 0.00015275 0.07137521
+v 0.02726699 0.00015275 0.07005798
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+v 0.02196828 0.00950621 0.06378482
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+v 0.01715373 0.00658649 0.06378481
+v 0.02386751 0.00015275 0.07042951
+v 0.02590595 0.00015275 0.07017520
+v 0.01977191 0.00668957 0.06378481
+v 0.02080049 0.00677901 0.06378481
+v 0.01921711 0.01563976 0.06382260
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+f 26 46 43
+f 26 43 35
+f 26 35 34
+f 26 34 33
+f 26 33 32
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+f 29 40 30
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+f 37 45 43
+f 37 43 46
+f 37 46 47
+f 37 47 38
+f 40 42 48
+f 40 48 41
+f 43 45 44
+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_4.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81288ffd02786afc64e6a2f6e5f80df96bd58271
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02414888 0.00015161 0.07392147
+v -0.02003941 -0.01140185 0.07392143
+v -0.01433702 -0.01140181 0.06378475
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+v -0.01552553 -0.00900832 0.06378476
+v -0.01865664 -0.00581851 0.06378477
+v -0.02497183 0.00015162 0.07175619
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+v -0.02915547 -0.01140185 0.07392143
+v -0.02347956 -0.01140181 0.06378475
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+v -0.02608087 0.00015162 0.07054059
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+v -0.03140711 -0.00380625 0.07392146
+v -0.02918196 -0.01132041 0.07392143
+v -0.02919785 -0.01140185 0.07382913
+v -0.02381157 -0.01140182 0.06418367
+v -0.02392106 -0.01099235 0.06404871
+v -0.02357493 -0.01122422 0.06378475
+v -0.02189017 -0.00552441 0.06378477
+v -0.02938151 0.00015162 0.07016449
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+v -0.03140887 -0.00381530 0.07382916
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+v -0.03001197 -0.00875386 0.07382914
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+v -0.02707866 -0.01140183 0.06869580
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+v -0.02734886 -0.00977299 0.06834650
+v -0.02834664 -0.01140184 0.07053460
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+f 1 22 21
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+f 25 39 30
+f 26 29 28
+f 26 28 27
+f 32 39 37
+f 32 37 33
+f 35 36 37
+f 37 39 38
+
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_5.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8660fe6b7e014770dba2eea9032ca1aa844e2e64
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_5.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.03378856 0.00585734 0.07383205
+v -0.03353653 0.00585734 0.07321121
+v -0.03337800 0.00499251 0.07321121
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+v -0.03227236 0.00015197 0.07321119
+v -0.03140451 -0.00380507 0.07392249
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+v -0.02997164 -0.00875345 0.07392247
+v -0.02915663 -0.01140185 0.07392246
+v -0.02828472 -0.01140186 0.07647441
+v -0.02960174 -0.00493537 0.07702350
+v -0.02708355 -0.00510130 0.07917769
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+v -0.03021960 0.00585732 0.07871133
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+v -0.03208131 0.00978534 0.07639494
+v -0.03281502 0.00978535 0.07409724
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+v -0.01914282 -0.00144707 0.08650286
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+v -0.01427513 -0.00510133 0.08842929
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_6.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3c60763d29ab24c722a81e15df6245eb707a3a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_7.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b9442d896fdca878ba776c1c889e26aa108a9c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_7.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_8.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e217b67d982e6de4a6b610d57e3a0301694e575
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_8.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_9.obj b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d63ed065e440c428211b985b9b3222edb23f6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/mesh/shampoo_bottle_009_collision_9.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/shampoo_bottle_009.xml b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/shampoo_bottle_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dff6b7499b8cabbf0f708bd3be4beb73c274a3e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/mjcf/shampoo_bottle_009.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/shampoo_bottle_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/shampoo_bottle_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/shampoo_bottle_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/shampoo_bottle_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/shampoo_bottle_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/shampoo_bottle_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/shampoo_bottle_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/shampoo_bottle_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/shampoo_bottle_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/shampoo_bottle_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/shampoo_bottle_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/shampoo_bottle_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/shampoo_bottle_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/shampoo_bottle_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/shampoo_bottle_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/shampoo_bottle_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/shampoo_bottle_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/shampoo_bottle_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/shampoo_bottle_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_009">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" 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/99b54ef638005afb8eac5b77ca0a25c9/shampoo_bottle_009.urdf b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/shampoo_bottle_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1b5d7ac0b94b06b9dfc222ab1c30d08e630a9613
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/shampoo_bottle_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_009">
+   <link name="shampoo_bottle_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>99b54ef638005afb8eac5b77ca0a25c9</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>decorative bottle</name>
+         <color>brown,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular shampoo bottle with a faceted cap and vertical stripe design</description>
+         <min_height>0.2308</min_height>
+         <max_height>0.2308</max_height>
+         <real_height>0.2308</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225058</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>10</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/99b54ef638005afb8eac5b77ca0a25c9/shampoo_bottle_009.usd b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/shampoo_bottle_009.usd
new file mode 100644
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+size 4712168
diff --git a/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/textures/material_0.png b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/textures/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/99b54ef638005afb8eac5b77ca0a25c9/video.mp4 b/dataset/bathroom_supplies/bath_products/99b54ef638005afb8eac5b77ca0a25c9/video.mp4
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