diff --git a/.gitattributes b/.gitattributes
index 8423702d0a14f2b59a8c014470ded6ab94b677ee..134cb4befa7ddd5a9371d7eb302a04a65b73bc0c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2329,5 +2329,7 @@ dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/sh
 dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/hand_sanitizer_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/mesh/hand_sanitizer_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.urdf b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d0ef1337d4164b3bb78d99ae21f51b25c97593d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_004">
+   <link name="facial_cleanser_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>7ba964ec513757f5bc0bfcd3500af2fd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>black cleanser</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>squeezable tube with tapered nozzle and printed text</description>
+         <min_height>0.1879</min_height>
+         <max_height>0.1879</max_height>
+         <real_height>0.1879</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223654</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>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/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.usd b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/facial_cleanser_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f54364973970f39a3d815f3adb18a231b12e826e288b373dcb3d6f0e5ad338c6
+size 4387819
diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.glb b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..84abe96f87606bb6befda05050deabea6e7fce43
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b9f5ff221055d905bcb710491923ccad18cfacf7cb2e2076ed855a354e39b8
+size 9869720
diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.mtl b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dc9c615c0a5ca9d889d40f9957ccbbde2bd3f12
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.mtl
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+newmtl facial_cleanser_004_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/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06026155b0225270227fcbde39d66115d8eb15d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004.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/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004_collision.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb9aa7427ac0221d7dd0650cb4579bb0a5d763c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e16e249de1942ae08ebbc60acca45a3c2994fdb9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/facial_cleanser_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a2a0554e18411988c7b8f4e43d105a22b12560aa074b9841201143329773fb
+size 7372350
diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97d63c47afc9bc7d30a2c6306d06ce54fa0f4e8a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e16e249de1942ae08ebbc60acca45a3c2994fdb9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a2a0554e18411988c7b8f4e43d105a22b12560aa074b9841201143329773fb
+size 7372350
diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/facial_cleanser_004.xml b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/facial_cleanser_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0816e1108f30e65f9c24f7d442930c9ce6b5c085
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/facial_cleanser_004.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_004">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_004_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_004">
+      <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/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46682fa67def55912db1836a395943625b56b752
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004.obj
@@ -0,0 +1,105156 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0a6687579c14d96953dcb980a45031c929fd86
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision.obj
@@ -0,0 +1,5061 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_0.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acae280b4919136ec3bdac4215bb540d7c239e8a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_1.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bfd21463b74f4d5677671b46b32f7a0dae05356
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_2.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e0319a7d4f69c8c173e7b7c5ebe995ef42159a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_3.obj b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc971b486b2dbe24b907333f425c14d83ad1e3a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/mjcf/mesh/facial_cleanser_004_collision_3.obj
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