diff --git a/.gitattributes b/.gitattributes
index b0679a5d9dd2a6d7ddd0ebe007ab56b9c69f09b3..26daa7686b2f8b4ebaac2fcc1ab73439df76cf25 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2337,5 +2337,5 @@ dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/mesh/sp
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/sponge_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.urdf b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..062eac19db591a5402d5494002000328f01412b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_010">
+   <link name="facial_cleanser_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>85156c936b855ed495ca26b6f069af9e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>foaming dispenser</name>
+         <color>white</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular bottle with pump dispenser for liquid soap</description>
+         <min_height>0.1078</min_height>
+         <max_height>0.1078</max_height>
+         <real_height>0.1078</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223832</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>7</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/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f36e18678ab739ec0c4d12d8a90b4c1a3128ca9d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ef370bf7de66f14cd984a2885dfd65d5ea32703387adf3fb10cfc8dc4afe73
+size 4887964
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..542453fceaf57f442d805690419e4b6ee599d686
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc6c3bccc61f30023862ab3ed318d2a85f6ec5487b3c82ade035889a1e694d7
+size 12853088
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.mtl b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf133466cb4d17a6dc804851516282afc0bfe29b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_010_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/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85839041662983ea7487c5845d2c340c9354fe1c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.obj
@@ -0,0 +1,120230 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010_collision.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3271ebd1c28c1845027def0ab825c896b77cbd45
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010_collision.obj
@@ -0,0 +1,5467 @@
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a0f2e626b95915750c3de877bb66a1571eb9ac9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa04f5b59ee3281aedc86f083a2a9d4c2893a6169d3a0486d34fc1a852e2062
+size 9567967
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb28a5507a4b70a7edb6f40ddd68f274088531bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a0f2e626b95915750c3de877bb66a1571eb9ac9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa04f5b59ee3281aedc86f083a2a9d4c2893a6169d3a0486d34fc1a852e2062
+size 9567967
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/facial_cleanser_010.xml b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/facial_cleanser_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7df326f63b5e916da14aa9d982477455e46fb498
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/facial_cleanser_010.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_010">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_010_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/facial_cleanser_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893e9094dec379c1a85ceaa01838514750f723ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010.obj
@@ -0,0 +1,120230 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7adc25f016a469a62f3a7e140f0de2c927febd7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision.obj
@@ -0,0 +1,5467 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_0.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551cfdb9c0cdc7ae02e7c9cd2afd12ce1f84f73b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_1.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd662a000539f1d7c8680f6037ee7910d2e01ef9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_2.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3723d064b5098501df3b4db2dcb1242aa3cd745e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_2.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_3.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee02edd5181925d6254b9c4b448f1759a5f142ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_3.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_4.obj b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c64c9198d616871d837a637a1f39446ac9b1e6a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mjcf/mesh/facial_cleanser_010_collision_4.obj
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