diff --git a/.gitattributes b/.gitattributes
index fda04bf07ff800b82f07c1fc87a905b1efa8eefa..905201e3dfae481ef1faddac99528b20f521baf5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2425,5 +2425,5 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/fa
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mjcf/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/mesh/soap_dish_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/soap_dish_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4a276d7af9d4fd57bf794a5a242b07b42cb9536
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_031_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bb9b601f28cceb3240e452ee4b851bcc89c4bc7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/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/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.glb b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6422d22076b8a5b412b54a2fb41a27215fbd1423
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.mtl b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..daae124f8b07209fc367f2e462e24acb3deee90a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_031_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/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2d00a608f5f3cd5957e381624339d5ded497a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031.obj
@@ -0,0 +1,110202 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_031_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031_collision.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cef96090468de99fc37736c491397cd3c1ab15
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mesh/shampoo_bottle_031_collision.obj
@@ -0,0 +1,4101 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5614630966931fc613dd3ddeb0df256b2d48b40
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision.obj
@@ -0,0 +1,4101 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_0.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca71020c79b5e95bdcedc2c43bf119d78a195ae4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_0.obj
@@ -0,0 +1,712 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_1.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b710b5558f2858100524fe8d991445b1f6eb6940
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_2.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc54b60dfc6d78bf42806c79c5b82112a30f4b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_3.obj b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65999ac0f12add606085aa9c94ff0a407eee94d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/mesh/shampoo_bottle_031_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/shampoo_bottle_031.xml b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/shampoo_bottle_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e0d20fe6ff4f022b400fc3239ac909e154336779
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/mjcf/shampoo_bottle_031.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_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/shampoo_bottle_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_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" />
+      <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/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.urdf b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fade02235a29f0170a217e9f70d9bb84bad18915
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_031">
+   <link name="shampoo_bottle_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_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/shampoo_bottle_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>d1e1665414425a88ba63780035f6dcc5</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>purple shampoo bottle</name>
+         <color>purple,silver</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tall purple shampoo bottle with silver label and faceted cap</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609165850</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037233 -0.037211 -0.097217</min>
+            <max>0.037096 0.037023 0.142783</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.usd b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/shampoo_bottle_031.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4868366
diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/textures/material_0.png b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/video.mp4 b/dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/video.mp4
new file mode 100644
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