diff --git a/.gitattributes b/.gitattributes
index f56489d1c68d618bf227c8758a617a426ac6e098..e544f1a096a7dc46b0ea4e787cf85622dc6add64 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2385,3 +2385,5 @@ dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/mesh/fa
 dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/mjcf/mesh/facial_cleanser_024.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b226cee5521d578ebdff0812f2bc7ba1/lotion_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b226cee5521d578ebdff0812f2bc7ba1/mesh/lotion_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/shampoo_bottle_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ebe8ff8b3f051a4199c09b44fbd771fb2f4e27f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_017_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7a2b4c29ae29bd13177fb3a5483955aec231abe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b53bef1cf04d2f475963d6d0f4c3250a55fec76e2da909dc1745cb0121df66
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.glb b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..86667075b2f12cdac7ec9fa76b2901029b79f3eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d64847920c2bfd62808189f67949caeee989233ed9a68fc052de55f9bb830a
+size 13815352
diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.mtl b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e69dd9d9f6f190735b4aacc8074e9a697ba0deba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_017_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/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.obj b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c552f8511fb82f29acb74e5956e086d8233ce6f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.obj
@@ -0,0 +1,104534 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_017_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017_collision.obj b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f3365afb8ab1a46655f58928af7aeefc037e4f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017_collision.obj
@@ -0,0 +1,15676 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision.obj b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767547945e05e50bb8924a00bcb3e2b8acf88c80
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision.obj
@@ -0,0 +1,15676 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_017_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision_0.obj b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b566f1d891510565c1e1a3d85448ec3c4922c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision_1.obj b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4698cc0ebdd9e0e0698992495fb80ce4c37d7d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/mesh/shampoo_bottle_017_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/shampoo_bottle_017.xml b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mjcf/shampoo_bottle_017.xml
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_017">
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="shampoo_bottle_017">
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+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/shampoo_bottle_017.urdf b/dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/shampoo_bottle_017.urdf
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_017">
+   <link name="shampoo_bottle_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+      <inertial>
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+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
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+         <uuid>b35e8760266e55d4b7a21456fe4006b6</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>dark green oval shampoo bottle with flip-top cap and leaf graphics</description>
+         <min_height>0.1727</min_height>
+         <max_height>0.1727</max_height>
+         <real_height>0.1727</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145253</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.027583 0.039189 0.093278</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
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+            <geometry>
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+         </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
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