diff --git a/.gitattributes b/.gitattributes
index 5772eaec693a97e49d07cd00a54816c825d63194..cbf096622986518852fb63751058da5765a0e8d9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2291,3 +2291,7 @@ dataset/bathroom_supplies/bath_products/1c135e8544d058a1a544ada07663f32e/mesh/sp
 dataset/bathroom_supplies/bath_products/1c135e8544d058a1a544ada07663f32e/sponge_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/211782bb4d9c5681a0e07e779ce94df1/lotion_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/211782bb4d9c5681a0e07e779ce94df1/mesh/lotion_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.urdf b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc2943a27f7cf78e3f7d36081fcedddf62692e26
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_027">
+   <link name="facial_cleanser_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>1d39da035f1a5cfab6098359189bf81d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>pink,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>pink oval pump bottle for facial cleanser</description>
+         <min_height>0.1511</min_height>
+         <max_height>0.1511</max_height>
+         <real_height>0.1511</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142937</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018867 -0.033809 -0.056209</min>
+            <max>0.019811 0.033856 0.094863</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.usd b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9ad19730ea417289a2c5244a1364090f7df62bb8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/facial_cleanser_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf52a85749193c703adaaaf086b2922a935f0fa83dce75db2c411966b2c7832
+size 43115185
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.glb b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d883cae503d2f48714844a63d162b16148d441af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ffa96e325e84a01ab7635c0c6e4f61734357b1ff18bc2591261b30209c3fa0c
+size 26946088
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.mtl b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07aab2dc67ad75dd29c33827f72b6c32f1d34921
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_027_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/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f161aff640d8131c571790fc76f760a353c1e66
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df90ed6213c6b953492be7260bef7671935ce629d9a76cfd13801a581049a81
+size 39521369
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027_collision.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8ce81c5f5a8b13fd1a0e349d0e1c9325f1add6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..747f637d3638d3cb019a4009b06be82efabd1eef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/facial_cleanser_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d3078d00a27f7a16f2e1f6a255c6d0190436cba5f89f922b575618fa145d9b
+size 3332486
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..245fd44a5e6d42b07d8aa9264c0759c322d9638c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..747f637d3638d3cb019a4009b06be82efabd1eef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d3078d00a27f7a16f2e1f6a255c6d0190436cba5f89f922b575618fa145d9b
+size 3332486
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/facial_cleanser_027.xml b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/facial_cleanser_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de83b37ed376a7dc1470b9c1a9cc43422bbcb8ad
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/facial_cleanser_027.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_027">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_027_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_027">
+      <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/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68cb533cdcdd57ef56f2a0c40ee993e9d89e9a2b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b0c49132d84603df1abd455d372fdf6f0a62e75b6c0a20b90b95e2b8d734db
+size 37708037
diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb11e73aad966345d3d7acdc8866edd3ac343444
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision.obj
@@ -0,0 +1,9075 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_027_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_0.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dce7c6848f47817706a17e5f9faa0d241d3b691
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_1.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fff144293a45005d77fa2a3131ececa4087919b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_2.obj b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b33dd9b34cd083a7328d2d17c64cadfd6922682
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/1d39da035f1a5cfab6098359189bf81d/mjcf/mesh/facial_cleanser_027_collision_2.obj
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