diff --git a/.gitattributes b/.gitattributes
index f6109655c90c56cb67f7cc29bb98cfcb7bbac31c..687ce48dba89b9592f663cae9a5dcc4472f112df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2279,3 +2279,5 @@ dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/facial_
 dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mesh/facial_cleanser_015.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/mjcf/mesh/facial_cleanser_015.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21597131af6ca2b9461dd40935a9668a430f60c4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_022_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ae5b9b2db719f0d531bcb3144291f49d760a06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/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/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.glb b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aa05d13c3703f582a5eb42e58711e3b7a53532cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6033ec36b5bed850cdd01a2b733785a5d7719f454172ecf8e3fc51c45be180c
+size 14482816
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.mtl b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2636a786e28265be289ba4d8de984e07d1c22a92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_022_geometry_Looks_material_0
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+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/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08154464c6369878147f488bff31127239bfa64
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022.obj
@@ -0,0 +1,116906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022_collision.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60782cc1d919654a557759b32b458374523ae82
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022_collision.obj
@@ -0,0 +1,8721 @@
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ae5b9b2db719f0d531bcb3144291f49d760a06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mesh/soap_dish_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c3cb63b021b3b75f55848daa33379ec8d68494768da077d394b19333851ca8
+size 11182122
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ae5b9b2db719f0d531bcb3144291f49d760a06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c3cb63b021b3b75f55848daa33379ec8d68494768da077d394b19333851ca8
+size 11182122
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6f4a5091e9bdebd45e3c478dfa215bed37ea6bf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022.obj
@@ -0,0 +1,116906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_022_geometry_Looks_material_0
+v 0.001347 0.076643 0.012899
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e75faf9dea3e715eef8bfc17d8f3a52214ea29d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision.obj
@@ -0,0 +1,8721 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_0.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55bb942f03bc0420e5e9c8452d1eafc1c6c9ce1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_1.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a32c953393310d49bf3efbc2f28011db4d31db3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_2.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1672c7932f70ec2c94d15ba0d7d3dee538ae2fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_3.obj b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d160f3324f0f4af7067efb999259784d6d003fa2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/mesh/soap_dish_022_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/soap_dish_022.xml b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/soap_dish_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2e5b8a65ebfaf91ab0236688fc8249b2dab957c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/mjcf/soap_dish_022.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.urdf b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ce5803d1c2d107d02550cf44e9650c20a6e6d31
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_022">
+   <link name="soap_dish_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_022.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/soap_dish_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>1b72dde62ba4506599ae434e3a51a83f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>covered soap dish</name>
+         <color>beige</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>oval lidded soap dish with vent slots and top knob</description>
+         <min_height>0.0678</min_height>
+         <max_height>0.0678</max_height>
+         <real_height>0.0678</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150446</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047311 -0.077843 -0.025587</min>
+            <max>0.047391 0.077913 0.042170</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.usd b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e3fbca5465e395e5a876cfbf5a614045950e85dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99801a40f57eaccadc113d6c73f97165da2e7b236e78f8f79284ecddba10f7a4
+size 4891619
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/textures/material_0.png b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ae5b9b2db719f0d531bcb3144291f49d760a06
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c3cb63b021b3b75f55848daa33379ec8d68494768da077d394b19333851ca8
+size 11182122
diff --git a/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/video.mp4 b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..490434fd97f917be78506f87caf7442644aa920c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2323c48e4b498985c9ef2820a98057128e4fba3be2f4a4867e8f0daf719e55a3
+size 209983