diff --git a/.gitattributes b/.gitattributes
index 6b6046c21648be793accdd006a41950f5dfe616b..a0ef873cbfa10e437da7c91e304d017726970152 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5247,3 +5247,5 @@ dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/sh
dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.usd filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/shampoo_bottle_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8143064cab5129417ff65827d5613dce732e3a3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_023_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9ad94c89b2c02f7967773c6cc083c2569832021
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7677885fcd1babbe7e8aeae76a257b52d474e59b6b13dd02d4225dbd8c80712b
+size 8291480
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.glb b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12c23e6ae051d82a499a5473527049c328ccbda0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbf944191dc02ce73b1c508cbbb1a09749610bbb95156689ff423e4efe4e936
+size 11276544
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.mtl b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aec397cc2c46786b1fdcf0276f17ad01399eb7d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_023_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/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.obj b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e24766d8a40dcfa56737173d655dfd00081d89
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023.obj
@@ -0,0 +1,106834 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_023_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023_collision.obj b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2171e1f38f81b7a552011259ed15d7c090a89a75
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mesh/shampoo_bottle_023_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/598477e380675277bdb7b2446c85490e/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7677885fcd1babbe7e8aeae76a257b52d474e59b6b13dd02d4225dbd8c80712b
+size 8291480
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023.obj b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023.obj
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index 0000000000000000000000000000000000000000..8dc910c954e8f8be9522db2e1cf28e04435893d0
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diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023_collision.obj b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802de73b6a04fc02f383307cd8338dd80738b34e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023_collision_0.obj b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802de73b6a04fc02f383307cd8338dd80738b34e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/mesh/shampoo_bottle_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/shampoo_bottle_023.xml b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/shampoo_bottle_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..676f4eed2b3d7cbaff961e066c0b5e46be9c9101
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/mjcf/shampoo_bottle_023.xml
@@ -0,0 +1,16 @@
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/shampoo_bottle_023.urdf b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/shampoo_bottle_023.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/shampoo_bottle_023.urdf
@@ -0,0 +1,67 @@
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+ 20260518145454
+ ""
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+ 0.036571 0.036068 0.128266
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+ is_graspable
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+
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+ 4
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+ affordance/affordance_annot.json
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+
+ YES
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/shampoo_bottle_023.usd b/dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/shampoo_bottle_023.usd
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