diff --git a/.gitattributes b/.gitattributes
index 28aa1ec89a2786f0d007cfd00918155bbb7dbb8d..3b04e11e6a7923c80c294a2d53ae86102d3f0b7a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5205,3 +5205,5 @@ dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/mesh/so
 dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/soap_dish_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sponge_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc6f953b037444410da505dcbc28b4886dcc8eea
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_034_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2f3cef6855e9a32a669478d5bf89e1fd3091a30
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.glb b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5644c3bdeb1a9fef90db841cae4c3bb215ff99c0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13717596
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.mtl b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb186b7ec399412ae222385a3b30a45ab9db222c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_034_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/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795add6e4d529f81b99b2b5b7ddb1631eac7ea90
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.obj
@@ -0,0 +1,114062 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034_collision.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b702a623c26acaa2ea8cb3198c705749e1cd76a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d49ee9f629fb3ee12ab552d08af6b9bb823153f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_0.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30b9ea0cf00b0d0dd71cfcf70f110bbbe74fb18
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_0.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_1.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85ad1df004ea39af4b67b12a0bf8e1e3838b145
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_1.obj
@@ -0,0 +1,2509 @@
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_2.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a3911e80951827db09ac333b34cf4d271669a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_3.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d0083efff77eb169ae6a7a05e7bcf40c517e30
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_3.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_4.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945c7ea30e7acb06b6e08e5e326323303202f923
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_4.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_5.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514c32db06b57bcb21a07eacca3cde7baa00018c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_6.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be60cdd590db63045065ba62151c877b7f914de2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_6.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_7.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e597222f21615a61828bbb137affc90f930b43
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_7.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_8.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254086e7dad20754e0952353bdf5b582b9711d3d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_9.obj b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142c6eafbc4152f62ba987051993b4f170c71fe2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/mesh/shampoo_bottle_034_collision_9.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/shampoo_bottle_034.xml b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/shampoo_bottle_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..513435df1f41fb2f9fc4924f64cd3b0874c88534
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mjcf/shampoo_bottle_034.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/shampoo_bottle_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/shampoo_bottle_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/shampoo_bottle_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/shampoo_bottle_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/shampoo_bottle_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/shampoo_bottle_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_034">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.urdf b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20429bb5bead6b1f507bf4926831b2bdabec09e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_034">
+   <link name="shampoo_bottle_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </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>36f66d7f68f65bf6abd1906f76af6de7</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>white,golden</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white curved pump shampoo bottle with gold cap and pink label</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609165942</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028077 -0.044581 -0.100502</min>
+            <max>0.027964 0.044086 0.139498</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>NO: {"summary":"Body and cap are separated, but Purple is just label/decor, not a functional part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.usd b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3421085531026b21062b2ec2c6e924e4c5164634
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172d67ecde8a981761236dfc20f50e72c5d2c53c4115784ea8bd4b556b46a575
+size 4966423
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/textures/material_0.png b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2f3cef6855e9a32a669478d5bf89e1fd3091a30
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+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de40493dda0d84ff86910c90dea60d58dd4b05633dc5f04a304846a538bb9bd3
+size 10266521
diff --git a/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/video.mp4 b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..becb575c61e8b0e75c22f04baf528e74b40383a7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:877cf620caf49d88d6912d6ba693faaac998e5c668f066c32494509cab6c9d4c
+size 200233