diff --git a/.gitattributes b/.gitattributes
index 6aedbb20f4fd37dc42e461010b932161853e5dd5..312454a484e5e451ca2b505ea58bd78645f71e65 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2417,5 +2417,5 @@ dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/sh
 dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/mesh/soap_dish_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/mesh/shampoo_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/shampoo_bottle_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e48951b81c33ed6d3c9cb192bbff6f8cc1e87fb7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_031_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 soap_dish_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..078554117518924b379b0afb9ffdf8c84d8ab712
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91e4f709240968739365e2e31c1e217da233bf0f60c17ac5eebe73c35760a4b
+size 11441949
diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.glb b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..293c62efc75f2e5de5ce69aab4a914fc424501c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad028ff90a1ab8bf89463bc6ef632f090614109f47d2872266e9cef2313a812
+size 14643368
diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.mtl b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d08d044bd3d5bb7be22b46f115e0493134fb3e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_031_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/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3e9b80378124e2def24b0571c7399359405708
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031.obj
@@ -0,0 +1,116656 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_031_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031_collision.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ac50ed46c250395d3ae4926810dfffdbc1bccc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/soap_dish_031_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/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/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031.obj
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index 0000000000000000000000000000000000000000..80b7c72bc8d0fe0a63c416fb983ae20364382966
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39771fd4c7427c575def57dfe04d84957a3b16bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision.obj
@@ -0,0 +1,9275 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_0.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffcdfbb5ba2750d6ffb7fbd25c524ea2722f313a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_1.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ade64678d05064b05443aff83ecd48013bb5b09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_2.obj b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbea95afe9b703deb211f490fd659c759726ad59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/mesh/soap_dish_031_collision_2.obj
@@ -0,0 +1,2431 @@
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diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/soap_dish_031.xml b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/soap_dish_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78d0efb97f682faa3f16c3f7e2f8ede4bdf47233
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mjcf/soap_dish_031.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_031">
+  <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/soap_dish_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soap_dish_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_031">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.urdf b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f9fef7dbf5a693adfe9e7a283d489d2b00f63fe7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_031">
+   <link name="soap_dish_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_031.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_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>c41e47ae529e57efbafe923f2a8dfac7</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>brown soap dish</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular brown soap dish with rounded top and lattice sides</description>
+         <min_height>0.0719</min_height>
+         <max_height>0.0719</max_height>
+         <real_height>0.0719</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170211</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060008 -0.085318 -0.036893</min>
+            <max>0.059992 0.085348 0.035026</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.usd b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3db6a030883378e85d3aa648b6a06befad738eda
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.usd
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