diff --git a/.gitattributes b/.gitattributes
index 0e3c90a6fc2ff4b2da141e054213b6f9f6795bca..03156836075d1dbabddece4cb39c4b9e10be7210 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2413,3 +2413,5 @@ dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/sh
 dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59879f4757f8227b562d3534e83a099ddaf0e21b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_018_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd shampoo_bottle_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df44d68e9670f2c724bf52f27240a62693109ee6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bad533a0b1bc88e1f06cd675884d8ae9a0d1e556b1e196761f9a23cbaab8b2b
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.glb b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ad9bc4876bfee1790116d6a07fddee12f9309723
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aefef0ac470320d0508315b935f6b721d0438f5162528d398029a5bf01fd012
+size 14909856
diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.mtl b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bbbe83ca48c9e16155731b351fba4dc9e40fbdb5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_018_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/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.obj b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fa6223fa5cbb680aeae7e02a5d215cb54b15fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018.obj
@@ -0,0 +1,110980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018_collision.obj b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c4e978fde3eb252b380b4156b706c7dc8369d87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018_collision.obj
@@ -0,0 +1,14545 @@
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/shampoo_bottle_018_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018.obj b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018.obj
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision.obj b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa5dcabe1de13688aa0f68524f44fc2be38d586
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision.obj
@@ -0,0 +1,14545 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision_0.obj b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6cd4ebbf68e2d3c65c2997297466a43c7ed5d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision_1.obj b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c81e958cfc5dddf2cd6e0dbcd65276d5a42e623
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/mesh/shampoo_bottle_018_collision_1.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/shampoo_bottle_018.xml b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/shampoo_bottle_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..35ac09792c6d2623184b70693cc74d6e0fb07060
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mjcf/shampoo_bottle_018.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_018">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.urdf b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..381f110422f828c63272f63f155020c43d2f51a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_018">
+   <link name="shampoo_bottle_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>bf2234ba2fb353c2a7bcd86cb9401e2d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>green shampoo bottle</name>
+         <color>green</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>oval green shampoo bottle with flip-top cap and leaf decoration</description>
+         <min_height>0.1743</min_height>
+         <max_height>0.1743</max_height>
+         <real_height>0.1743</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145319</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025731 -0.045630 -0.079835</min>
+            <max>0.026742 0.045734 0.094430</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>NO: {"summary":"Decorative graphics and bottom patch are segmented as parts; not functional for a shampoo bottle.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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