diff --git a/.gitattributes b/.gitattributes
index e4875d91a67b81d8252b4183d68bd112e55e25d8..e9010f1bc514dca6c5c227695724f42561b0e018 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2214,33 +2214,20 @@ dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/hand_sa
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/affordance/affordance_annot.json b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/affordance/affordance_annot.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b3f2e0ffb8ac51b7f2d4b7a5c055c7c89be532
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/affordance/affordance_annot.json
@@ -0,0 +1,745 @@
+{
+    "affordances": [
+        {
+            "part_name": "tube body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
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+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "squeeze the tube body to dispense product while holding it",
+                    "confidence": 0.9
+                },
+                {
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+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain cleanser",
+                "main grasp surface",
+                "squeeze to dispense",
+                "support printed branding",
+                "connect the cap assembly to the package"
+            ],
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+            "id": 0,
+            "grasp_group": {}
+        },
+        {
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+                }
+            ],
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+                "connect cap to body",
+                "support closure mechanism",
+                "stabilize during cap manipulation",
+                "provide lower-end structure"
+            ],
+            "semantic_description": "Short beige plastic collar around the tube base with a smooth slightly glossy finish, hard texture, and rounded cylindrical ring shape between the body and the bottom cap base.",
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+        {
+            "part_name": "flip-top cap",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cap to reposition the tube on a surface",
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+                },
+                {
+                    "scenario": "pinch the cap edge or sides to help open or close the flip-top dispenser",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold the cap briefly to stabilize the package during manipulation",
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+                }
+            ],
+            "functional_labels": [
+                "close dispenser",
+                "protect opening",
+                "serve as the base for upright standing",
+                "assist opening and closing"
+            ],
+            "semantic_description": "Rounded metallic gold flip-top cap base at the bottom end, with a smooth glossy hard surface and broad circular shape forming the package base.",
+            "id": 1,
+            "grasp_group": {
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+                        0.09555446106242016,
+                        0.0029342457419261336
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+                        0.074987446248997,
+                        0.009893934591673315
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+                            -0.6605113065693694,
+                            0.6590541223411606
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+                    }
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+                "grasp_4": {
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+                    "position": [
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+                        0.030950338870752603,
+                        0.009700127295218408
+                    ],
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+                        "xyz": [
+                            0.5886363399007039,
+                            -0.42790277524846354,
+                            -0.4130318272340165
+                        ]
+                    }
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+                "grasp_5": {
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+                    "position": [
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+                        0.047435661137569696,
+                        0.007850540219806135
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.3550828206871217,
+                            -0.36859885962242356
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+                    }
+                },
+                "grasp_6": {
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+                        0.058522870123852044,
+                        0.030908616608940065
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+                        "xyz": [
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+                            -0.3635519933784679,
+                            -0.27754294136466073
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+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9809882640838623,
+                    "position": [
+                        0.08613877835159656,
+                        0.05502345162676647,
+                        -0.006617905688472092
+                    ],
+                    "orientation": {
+                        "w": 0.6526436200090455,
+                        "xyz": [
+                            0.5879150591733058,
+                            -0.30639022406112015,
+                            -0.3667931556865717
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+                    }
+                },
+                "grasp_8": {
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+                            0.6371666121131019
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+                    }
+                },
+                "grasp_9": {
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+                    "position": [
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+                        0.03022589284228161,
+                        0.025914850062690675
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.44305808945789615,
+                            -0.392945930400613
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+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9801644682884216,
+                    "position": [
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+                        0.09735434997128323,
+                        0.013511686003766954
+                    ],
+                    "orientation": {
+                        "w": 0.08441719738899897,
+                        "xyz": [
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+                            -0.6944020305610973,
+                            0.6970825340691547
+                        ]
+                    }
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+                        0.1009799366001971,
+                        0.016049195430241525
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+                            -0.713364510791755,
+                            0.6916012215889819
+                        ]
+                    }
+                },
+                "grasp_12": {
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+                        0.10017863410757855,
+                        0.019194055697880685
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+                            0.6920484465915564
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+                    "position": [
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+                        0.049059220880735666,
+                        0.04264354926999658
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.3889806487880949,
+                            -0.3201122033104086
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9778533577919006,
+                    "position": [
+                        0.08438921811466571,
+                        0.05193833011435345,
+                        0.030383320874534547
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+                    "orientation": {
+                        "w": 0.5111641460297321,
+                        "xyz": [
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+                            -0.3209676697657948,
+                            -0.3586686522841901
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+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.977852463722229,
+                    "position": [
+                        -0.04474519474024419,
+                        -0.09444222104502842,
+                        0.003257581382058561
+                    ],
+                    "orientation": {
+                        "w": 0.7032333321902795,
+                        "xyz": [
+                            -0.6743944987400348,
+                            0.17210781319624002,
+                            -0.14503048370098523
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+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9778100252151489,
+                    "position": [
+                        0.08033152761345264,
+                        0.05200801539467648,
+                        0.048883760697208345
+                    ],
+                    "orientation": {
+                        "w": 0.46801525387176535,
+                        "xyz": [
+                            0.7400604071947842,
+                            -0.4036514566611529,
+                            -0.2652127775605214
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9777724146842957,
+                    "position": [
+                        0.09707864465599414,
+                        0.04094592604087666,
+                        0.0010854083811864257
+                    ],
+                    "orientation": {
+                        "w": 0.5720482366130213,
+                        "xyz": [
+                            0.5971616785700867,
+                            -0.3725088888672896,
+                            -0.42118389374493787
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9775232672691345,
+                    "position": [
+                        0.09427893253450748,
+                        -0.03242402774048969,
+                        -0.0008241396863013506
+                    ],
+                    "orientation": {
+                        "w": 0.3811528870531023,
+                        "xyz": [
+                            0.4257698302221421,
+                            -0.589645450752904,
+                            -0.5707545626362509
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+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.97718346118927,
+                    "position": [
+                        0.048232172601274215,
+                        0.08694049465702847,
+                        0.014579551643691957
+                    ],
+                    "orientation": {
+                        "w": 0.1411015258089018,
+                        "xyz": [
+                            -0.2173255765924296,
+                            -0.6784459088106224,
+                            0.6874380713862862
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sealed top edge",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "seal the package",
+                "close the filled tube end",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Thin crimped strip along the slanted top edge of the tube, matching the dark brown package with a narrow ribbed sealed finish and flattened form.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cap color/material and collar identity are mismatched; cap is beige flip-top, collar is metallic gold ring."
+    }
+}
\ No newline at end of file
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/caption_candidates.json b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/caption_candidates.json
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+{
+  "raw": "facial_cleanser",
+  "uuid": "02f701f8bb9f53eebd246d319f11e350",
+  "seen": [
+    "tall brown facial cleanser container",
+    "brown facial cleanser with white text",
+    "facial cleanser with oval cap mark",
+    "brown facial cleanser with cream cap",
+    "dark brown facial cleanser tube",
+    "facial cleanser with metallic gold base",
+    "plain brown facial cleanser tube",
+    "facial cleanser with curved tube body",
+    "facial cleanser with smooth brown body",
+    "brown facial cleanser with slanted top",
+    "dark brown facial cleanser bottle",
+    "upright facial cleanser with beige base",
+    "facial cleanser with white logo text",
+    "dark facial cleanser with shiny cap",
+    "narrow facial cleanser with flat top"
+  ],
+  "unseen": [
+    "dark brown facial cleanser package",
+    "soft brown facial cleanser tube",
+    "brown facial cleanser with flip cap",
+    "slim facial cleanser with rounded cap",
+    "tall facial cleanser with gold cap"
+  ]
+}
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_cleanser_018.urdf b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_cleanser_018.urdf
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+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_cleanser_018.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_018">
+   <link name="facial_cleanser_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>02f701f8bb9f53eebd246d319f11e350</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>cleanser tube</name>
+         <color>brown,beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown squeeze tube with beige flip-top cap</description>
+         <min_height>0.1197</min_height>
+         <max_height>0.1197</max_height>
+         <real_height>0.1197</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142314</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.017112 -0.022997 -0.050264</min>
+            <max>0.018827 0.019342 0.069404</max>
+         </aabb>
+         <tags>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
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/interaction.json b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/interaction.json
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+{
+    "interaction": {
+        "active": {
+            "place": {
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+                    {
+                        "xyz": [
+                            0.000857500359416008,
+                            -0.0018277298659086227,
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+                            0.0
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+        "passive": {
+            "pick": {
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+                            -0.0
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+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
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+                        "ref_frame": [
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+                        "dir_axis": "-y",
+                        "ref_axis": "+z"
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+                    {
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+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+x"
+                    },
+                    {
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+                        "dir_axis": "-z",
+                        "ref_axis": "+y"
+                    }
+                ]
+            }
+        }
+    }
+}
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cb4705026ac2b02e349855220fba91dd7db16f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd73dce438c2e47c21f42b6dd75830086e1780a3452395b093e895c2fe79fc5
+size 3448991
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9ef16c505a2a2180304ca966410f910bd4f5397b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cb4705026ac2b02e349855220fba91dd7db16f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd73dce438c2e47c21f42b6dd75830086e1780a3452395b093e895c2fe79fc5
+size 3448991
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/facial_cleanser_018.xml b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/facial_cleanser_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..388fc493b7368797d7da310729f71a7159188103
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/facial_cleanser_018.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_018">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_018_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_018">
+      <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/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5dfe7e24ebc2a70393de3345d324a53556f888
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc559cfe6a7e02600d2b67c6a8f22fcbba6fd5db1bf17754c8c70f17cee88c48
+size 36702352
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d768d0edabdc758673f78e49060e271192eff54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision.obj
@@ -0,0 +1,7044 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_018_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_0.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3b88b2a0d82f521f98669b63b15a2c5713d331
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_1.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52c4cd0f22d8cecd3f8cc12ff8aa68acbcf606f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_2.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62bfbbab31fcc4745da18990e699c4c94e979e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_3.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333760b1714c3b74640c26dd1b3de38673b2dd6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_3.obj
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