diff --git a/.gitattributes b/.gitattributes
index c98cac6fce5cdefbfcff22e897e601b3e7f1ea02..d32a9ec6277ff7ab190ff123456152d24efb9454 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2419,11 +2419,7 @@ dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/mesh/so
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.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
-dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/facial_cleanser_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/mesh/facial_cleanser_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/mesh/facial_cleanser_020.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/mjcf/mesh/facial_cleanser_020.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.urdf b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2743a7f9e2a1ed104abf832ac17fc5740fbaa7dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_017">
+   <link name="facial_cleanser_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_017.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/facial_cleanser_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>c28e5cb0376d5667ae083f14666b5468</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>cleanser tube</name>
+         <color>gray,purple</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray squeeze tube with flip-top cap and purple label</description>
+         <min_height>0.1676</min_height>
+         <max_height>0.1676</max_height>
+         <real_height>0.1676</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142236</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024052 -0.036219 -0.069907</min>
+            <max>0.024105 0.036400 0.097708</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.usd b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/facial_cleanser_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbef99378386066caaeed613145c9eab1703189f6194e4db2aeea22a9ed63eb
+size 40505706
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.glb b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..af2b48baa9b444016c8ae8f11165cc2c89dcc773
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22775560
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.mtl b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2696df87cf636d23b583a54380006e169d09505a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.mtl
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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/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.obj b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4929f48a276930c8675bc7ba1b090b3c7e266df4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 38676796
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017_collision.obj b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017_collision.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5aeb354529a7370a4cf2937a452d97200f37cab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/facial_cleanser_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d9f983a01a02f65d93f1696f9941bbb3b5f7926048173ba7ecff37c317492f
+size 3280178
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a72daaaff6f4530d227c6c2f3857b3eb7357f4f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_017_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 facial_cleanser_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5aeb354529a7370a4cf2937a452d97200f37cab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d9f983a01a02f65d93f1696f9941bbb3b5f7926048173ba7ecff37c317492f
+size 3280178
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/facial_cleanser_017.xml b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/facial_cleanser_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9cc74d8f9c96c32fe3dd1e1d71fe3d2b19d07674
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/facial_cleanser_017.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_017">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_017_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017.obj b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065b2b977c3b9d409a2b3ac43f4c11db89ab7b9b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98228da1a7ba7e15b8c826bb2070b729107102cd452422f9f5105825c2d69072
+size 36941494
diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision.obj b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e5ad0098426615eaa824873f4b5326f40acfa3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision.obj
@@ -0,0 +1,5422 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision_0.obj b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0177f5c03cbb2b73092f28feff9b17511bd3ca8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision_1.obj b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84636594517bc4ec3268a01c7ed45ad53a097572
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/mjcf/mesh/facial_cleanser_017_collision_1.obj
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