diff --git a/.gitattributes b/.gitattributes
index 52cbb6f69924397f7923b5c5d7e4d060bfa6a533..c559fa8d4192413e11e1c3d6b8b69648527b2416 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2369,5 +2369,7 @@ dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/sh
 dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/mesh/soap_dish_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.urdf b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bb80dad1a28d72aec95e78f68bfb3d26615e51ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_021">
+   <link name="facial_cleanser_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>aa3a6c6fc6e65b90a98f38d5e1dfb281</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>white,golden</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>oval pump bottle with gold collar and white body</description>
+         <min_height>0.1469</min_height>
+         <max_height>0.1469</max_height>
+         <real_height>0.1469</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142515</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027849 -0.036089 -0.056721</min>
+            <max>0.027899 0.036355 0.090191</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
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.usd b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/facial_cleanser_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3761ebfd4e47da5f0e5f62308ff5b7a4dcb5d8be95d2f927987f4d059ae1f03
+size 39546999
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.glb b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b182555f52d9273ca3ccffe7a97b1db99ca9959be6c85e51b1950d441a703201
+size 21354852
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.mtl b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a249c94c78624377f7200d74233cf08a7679675
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.mtl
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+newmtl facial_cleanser_021_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/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea19727fa04273c388266c05e1bd0712bdebaf0e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 37443493
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new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aacfa161b6a079809d8e7e212ed72def4841fd3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/facial_cleanser_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f18da7df0f7a10a348a081735fd7a2e241ded78ed0c0fd0f1543ffb7ab2863
+size 3347823
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a46663094b66dd8070631ac8b903810f5c88ba95
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aacfa161b6a079809d8e7e212ed72def4841fd3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f18da7df0f7a10a348a081735fd7a2e241ded78ed0c0fd0f1543ffb7ab2863
+size 3347823
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/facial_cleanser_021.xml b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/facial_cleanser_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..27bfcc5a39c7be8200c5cb6ac74ded0d305cf675
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/facial_cleanser_021.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_021">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_021_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_021">
+      <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/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ecc849790eaf1c7325cca249c0cb52e1c44973
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd628bbe6574c823b38d07524d9212378a04dafdbe23581d31309a76b4f39a88
+size 35820706
diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b7922f6176958738c2e952bd29b36e1ee54dad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision.obj
@@ -0,0 +1,15573 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_021_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_0.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6b74594163e2f4eab01a0c2c5abf6ec23f6db0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_1.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b97249299aaef9365733b1e1111f3fbc7aa89c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_2.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27b6b98635e32a8358de428f509ce90b48ab79ef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_3.obj b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4956826e40cbcc30957480796ae4f401232cc921
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/mjcf/mesh/facial_cleanser_021_collision_3.obj
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