diff --git a/.gitattributes b/.gitattributes
index f8592c6340c67dd88111fcf4e363f522384e9350..b6d3c207d94263cfb9552811ea857d903b26331a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2377,3 +2377,5 @@ dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/facial_
 dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/mesh/facial_cleanser_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.urdf b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2f9f03390e1ef1d66ebf5167a389951df2129a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_005">
+   <link name="facial_cleanser_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_005.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_005_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>b1d53e22d44453dbbc621edc38f1575b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>men cleanser</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray bottle with pump dispenser and printed text</description>
+         <min_height>0.1040</min_height>
+         <max_height>0.1040</max_height>
+         <real_height>0.1040</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223711</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>10</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/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.usd b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..403217da2f9c4ee14c84762d51825ef0424dda5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/facial_cleanser_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5f63e914f4ede158c578d46c77f5d2450741e5f943b6d6692bf188d9a8e918
+size 4882516
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.glb b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d52da444dc86eaacac8236d8b7cf2a8ba819e436
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb83bb7223562baf6db503f45a2003c049ddfa014bfa2bbe718f69f2a610195
+size 11165192
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.mtl b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ed48775fabaf41b28f395cec5552882ddf52b95
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_005_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/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe42e6ca7d4d50c67a675c30fcf03fab405eb5d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005.obj
@@ -0,0 +1,108722 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005_collision.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba2132873233b562d23b6168cd516f7a277e5b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005_collision.obj
@@ -0,0 +1,4280 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3446044fe8246c4ba066c5b37937385377b67da3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/facial_cleanser_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2be7556a465ec5d55932af4d71ac2beac02233636ae397a3d3e0181999a459
+size 7841490
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b3502b5ef56c9347c9366701ef814da24f9d7be0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3446044fe8246c4ba066c5b37937385377b67da3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2be7556a465ec5d55932af4d71ac2beac02233636ae397a3d3e0181999a459
+size 7841490
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/facial_cleanser_005.xml b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/facial_cleanser_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64251d6f90be330c1192b2f7d0a6497a86c2b165
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/facial_cleanser_005.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_005">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_005_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a1712ae94eb989cecda166ca80464159275e8b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005.obj
@@ -0,0 +1,108722 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39e80541edd31dd5767e0e1cb5645044a210b8b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision.obj
@@ -0,0 +1,4280 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_0.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a7c74d4b6b6eccce9bec7dac4441e6665add7f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_1.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88742721d65b2bb704e8cc44bb1a23907dac61c1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_2.obj b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96921c73228a916dc137bda7e9b62c90bcf16ee
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/mjcf/mesh/facial_cleanser_005_collision_2.obj
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