diff --git a/.gitattributes b/.gitattributes
index f985c896982168b8e258a44cdaec2249179b01bf..f571d89723534e9515ad4f05b1b9fe3bd6d2700b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2429,5 +2429,7 @@ dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sp
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mesh/soap_dish_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/soap_dish_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.urdf b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..30c9f393c3180f5c5f1e145eb462d8b1dfe3049f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_022">
+   <link name="facial_cleanser_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_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/facial_cleanser_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="0.2650" />
+         <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>df42d61991625eb689e6c8b7ae6dceea</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white cylindrical pump bottle for facial cleanser with blue label</description>
+         <min_height>0.1502</min_height>
+         <max_height>0.1502</max_height>
+         <real_height>0.1502</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142556</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023920 -0.026996 -0.059302</min>
+            <max>0.024151 0.024638 0.090905</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_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/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9fce610f33fe987dfca8303e56d25964f04761ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1965b11403057da5402a506058a8f525f4c60c9682091a3a839eca0b523864ed
+size 40207012
diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.mtl b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c15bae45cf123ad8d29e9660aaad779442307860
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.mtl
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+newmtl facial_cleanser_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/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60823704d7322a2656478b88754cbcdd0d0dc2f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022_collision.obj b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022_collision.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a14504aa1ef954c06dc29c52d260acad8993925
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2619267
diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material_0.png
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index 0000000000000000000000000000000000000000..0a14504aa1ef954c06dc29c52d260acad8993925
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+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:830d594266a5d9ac9a2a1bcd23e5209b346f0200680de9e49bdd0f1e6ff24bcc
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/facial_cleanser_022.xml b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/facial_cleanser_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ad464a9a341845c18131d669f8b0788bf39e6b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/facial_cleanser_022.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_022">
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+    <texture name="texture_0_facial_cleanser_022_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_022_geometry_Looks_material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_022">
+      <joint type="free" />
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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" />
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+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df44a4714f2600f8e0715ca24633ae9eae8dfd0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision.obj b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision.obj
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index 0000000000000000000000000000000000000000..19a73d64c2f7a0e2d272d45c43579ac417afef3b
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision_0.obj b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b84252da1522943863fe9643017d2b09e6a488
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision_1.obj b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62357d2cab06879be823bb9c3c703f4aee4149b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_collision_1.obj
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new file mode 100644
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a14504aa1ef954c06dc29c52d260acad8993925
--- /dev/null
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