diff --git a/.gitattributes b/.gitattributes
index c776eb9bd928f6fd6cabe02a7b21b42c38a58d75..e9be4c4b9218124e7cbfef081ae4751ca68ad8b1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2309,9 +2309,7 @@ dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/facial_
 dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/mesh/facial_cleanser_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/mesh/sponge_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/sponge_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/mesh/shampoo_bottle_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/shampoo_bottle_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.urdf b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1834de9c1071ce5c3c12ae04eda2e20941cd179
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_019">
+   <link name="facial_cleanser_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>2f389bce9fde5cf5b4a61023a2c57227</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>cleanser tube</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white squeeze tube cleanser with flip-top cap and blue label</description>
+         <min_height>0.1681</min_height>
+         <max_height>0.1681</max_height>
+         <real_height>0.1681</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142357</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024396 -0.035244 -0.070946</min>
+            <max>0.024519 0.035380 0.097119</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.usd b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.usd
new file mode 100644
index 0000000000000000000000000000000000000000..af4953c2da848e700e765c10d504a1bcbc6866f5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0717b7198e3beec3426732740363c7ebe310bfb66823eea03e0ce540bb1867
+size 40434404
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..905df228293459362c619e902dc17e209c3246ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cec3b6d725a7c57bdab4d9b4382fbf0cdef18992df84b10f7da418e73b1a155
+size 22351824
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.mtl b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f026d138f0449282e607556d98f0a913111a4279
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_019_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/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016ef6853c87432c444c1a402deeb1466dfedd3e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5502a7a36b7aa200d6242cc8334433516c4e827e083b406e2342cff7a27974fc
+size 39132308
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019_collision.obj b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019_collision.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..71a14bf901b25e30840f6d3ddb7bb681242c6eec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7aef4dafb9446c986dd1de2c625ad9c38ccba2aa5d836d49933960599a1e0d7
+size 2998344
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ef0eaee3f573aafbc5e35569d61a737bebd474e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..71a14bf901b25e30840f6d3ddb7bb681242c6eec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7aef4dafb9446c986dd1de2c625ad9c38ccba2aa5d836d49933960599a1e0d7
+size 2998344
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/facial_cleanser_019.xml b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/facial_cleanser_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..50267a60c90b91f86276078667c78b555cc9bc73
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/facial_cleanser_019.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_019">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_019_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_019">
+      <joint type="free" />
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+    </body>
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4311f1d0d6f570c204abc85ada3136468510d35d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 37360080
diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision.obj b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62ce42c66cb2ee9ac96003c866f3ec33a97eb14
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision_0.obj b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e921992f3e5d51926b4dad81fc55d2b7ac6eb337
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision_1.obj b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee8b9f1685ec6313ed4fe0d132062f40cd1ca1f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019_collision_1.obj
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