diff --git a/.gitattributes b/.gitattributes
index 527c71f5e89c4ae3540388d2e2a1f46b6eb8bd59..7df35fc1c2897e246fd8e3978cf834a7953ff3a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2423,3 +2423,5 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/facial_
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/facial_cleanser_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.urdf b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fcd5a00fb1f5512257cba652bbf782d4e8f0cf5e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_002">
+   <link name="facial_cleanser_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>ce1196d604e858818f587cdd464a0ad6</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>black tube</name>
+         <color>black,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black tube with blue accents and printed text</description>
+         <min_height>0.1746</min_height>
+         <max_height>0.1746</max_height>
+         <real_height>0.1746</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223615</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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_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/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273faa753b5ad0727ffa7a0e94648ea6058a6421b6f5157920bb3adef58ce3ff
+size 4491703
diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef2dc4828f410651e3bba54681b805a4019f0116
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8fed9831bbfe76547f2f8f8b0850db2fe99ac61d7d1627303f5f5cff72e5f6f
+size 10361932
diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.mtl b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb93441fdbce8543deb97e20926f337111f2749a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.mtl
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+newmtl facial_cleanser_002_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/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e02fa2845be49b47078369414efdf22a51615f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.obj
@@ -0,0 +1,113542 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_002_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002_collision.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab63468baab4cc50d506bc359fb1ac8449dd59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002_collision.obj
@@ -0,0 +1,5946 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f30aaf8ff21858c8887a319b1fd7771dc5a9ec87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de395acdff6a47427942d2237700e5cdd9c39dc14b3641054be27fd6bc0d0a37
+size 7703800
diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cfd4ff9896f8c26e5f292d11a6671856ccb304d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f30aaf8ff21858c8887a319b1fd7771dc5a9ec87
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de395acdff6a47427942d2237700e5cdd9c39dc14b3641054be27fd6bc0d0a37
+size 7703800
diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/facial_cleanser_002.xml b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/facial_cleanser_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9274aa5b27a77279293bb34eca23c741bade8074
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/facial_cleanser_002.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_002">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_002_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/facial_cleanser_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/facial_cleanser_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/facial_cleanser_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5019cd508174eeec41dc645f15abad45603d933a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884ef16db00a991a76ddad9b27281058b104a1e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision.obj
@@ -0,0 +1,5946 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_0.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc31f34fbcfc0a1b5029bc257ebe42a875a8fca3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_1.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529590276f3102216e0814c818039feffec1faa8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_2.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e3cc7998f52116adf0c941e38b93a24fbc4945
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_3.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369da3c114c137041c926058ce0cbbe5a844c1f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_3.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_4.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5798f506d6b6864394123f785ce0caca304a2d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_4.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_5.obj b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c35743952fefeacb4d128da80db6ae04ea0c78
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mjcf/mesh/facial_cleanser_002_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/textures/material_0.png b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/video.mp4 b/dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/video.mp4
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