diff --git a/.gitattributes b/.gitattributes
index 75283afb7a72f3a9b646e396246af7ef7da980dd..5c61cca318783e5877fe85873822b1703754cd69 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2299,3 +2299,5 @@ dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/sh
 dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbe5223fe5175581f8280a5bd3f3a78986964d4a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_014_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..060bae0a5d6d47532b3c624b20ae5d3da486789b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2c18ff2dba2b5d3c4f4833ab8dc8a38e6e1a340d1b2d6405b0812aeb981094
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.glb b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8af7fd775350159295d14cfdd7b587425ddd66da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15038776
diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.mtl b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..663fb5d5f8af9c35c7bbbd8ee20f446110d251ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_014_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/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.obj b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959c9066a4edb81b9ece9287ce80641f6e788aa2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.obj
@@ -0,0 +1,116288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_014_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014_collision.obj b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9bf5a1d1583b999fd3894bf4f27285fddd7e67
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision.obj b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f3890e10b625beaf871262b00552b077b75765
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision.obj
@@ -0,0 +1,8870 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_0.obj b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae2d5f8cd313c9de5719e71a6e395a8d4a47567
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_1.obj b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4c41945a27982cf701054ca94aae3297c2d643
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_2.obj b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc100ffb42610e3699edff42e6d301f9a08b2c7c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/mesh/shampoo_bottle_014_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/shampoo_bottle_014.xml b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/shampoo_bottle_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4b742b83d9a4ec116d7108b2bdf9ddf05863022d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mjcf/shampoo_bottle_014.xml
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+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.urdf b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f79fff4f5ff5155ac11ce9aa2c1e3796c66b5c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.urdf
@@ -0,0 +1,66 @@
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+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>2479f90f8ff85cb49b15c7347c128193</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>beige,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>beige oval pump shampoo bottle with floral front label</description>
+         <min_height>0.1747</min_height>
+         <max_height>0.1747</max_height>
+         <real_height>0.1747</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145151</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021489 -0.039729 -0.080361</min>
+            <max>0.021509 0.039845 0.094297</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.usd b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c44547f43fa48b8f83b8b8f6f5e220f13ce06908982f6ab821dee34eaaea6e
+size 4969397
diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/textures/material_0.png b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2c18ff2dba2b5d3c4f4833ab8dc8a38e6e1a340d1b2d6405b0812aeb981094
+size 11599630
diff --git a/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/video.mp4 b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a22fba5902e2bcd15c1fd4c1dd7dd047893ccf93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdfdd330439f7953c647cbccb5248c8a689a2694fac6f1df8b0614498d82842b
+size 221393