diff --git a/.gitattributes b/.gitattributes
index 9bed67fcea0fd2886dbe19ae292c574dd5fbfa8d..fdcaca5fcd4187d04dda524b73aa16fd500ab1cc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2327,3 +2327,5 @@ dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_
 dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/shampoo_bottle_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afa9dd621eaad0bf8c291a117af062364cbb1ec3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25da624c9ae1a84e4ee8d66419a1998fade5a5a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b1663487066d729f9d4ad09aac741a5e9b15d27a9afe4887ed55ebf4e1bd2f
+size 8040068
diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d409ce07d5288e29d125975cab8c43258440bd7c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a8f9b13faa7eb4969127709da6d2a9bb07bfe5b6a329887f842d1162c71064
+size 11303084
diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.mtl b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12c6b4eda2f907fc77f0a95908f40cdad6bc06fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_013_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/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.obj b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4dca11988d51eb1fd9ab5c5e43aa8f24c43b9c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.obj
@@ -0,0 +1,110122 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013_collision.obj b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60b2dd98cb6e2fc0013e40b8660966a02b41757
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013_collision.obj
@@ -0,0 +1,8649 @@
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013.obj b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013_collision.obj b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc880f3e4a4c8dd8ccc2ebd20b1fac9882dc8bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013_collision_0.obj b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc880f3e4a4c8dd8ccc2ebd20b1fac9882dc8bc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/mesh/shampoo_bottle_013_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/shampoo_bottle_013.xml b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mjcf/shampoo_bottle_013.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.urdf b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.urdf
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+++ b/dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_013">
+   <link name="shampoo_bottle_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+      <inertial>
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+         <uuid>7a18ab085b075a30aaf509c4382241bf</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>dove shampoo bottle</name>
+         <color>white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>white dove shampoo bottle with tapered neck and flip-top cap</description>
+         <min_height>0.1753</min_height>
+         <max_height>0.1753</max_height>
+         <real_height>0.1753</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145136</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.018040 0.035687 0.097758</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
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+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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