diff --git a/.gitattributes b/.gitattributes
index 4f10732f3aa763ddd126c5606707a63df8145d94..c39962d21e4c6961645df2f4c85bd4551c68eb4c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2311,5 +2311,5 @@ dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sp
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.urdf b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38978b3753cd8b722ca15e039852edea535869b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_001">
+   <link name="facial_cleanser_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>67a18fd24ad4550cbe195c3b95adc7e9</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>soothing tube</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray cylindrical tube with rounded cap</description>
+         <min_height>0.1899</min_height>
+         <max_height>0.1899</max_height>
+         <real_height>0.1899</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223557</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>2</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/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.usd b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/facial_cleanser_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff78a4df56e27b0b303d61ec3b5531ccc24f6b9829463a2c86f5b68f1e05ac73
+size 4297335
diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.glb b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..744cccfb6638a9b635eba66d5b54875fc110e739
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc632c310565cc19fdb6466642a029d5a197cb26b5fc1fd2ebcba0b536e9654
+size 9328808
diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.mtl b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d2aa620fd25109cb52689e87b076c0f0638fb03
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.mtl
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+newmtl facial_cleanser_001_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/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ecc2bccff035698a32002f08f7394b3c59985f8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_001_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001_collision.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b412161ea184df647943166be904fc21ae03822
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001_collision.obj
@@ -0,0 +1,3809 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adeede90aac38347d0b6450c63212b50d5371cc5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/facial_cleanser_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419a0f3e673004d272478a863f8b33a6ef1fdb1166a30439ff6d913258c99e43
+size 6976367
diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2db42633b30356d4089bb6c48eeddaef18d1fc21
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adeede90aac38347d0b6450c63212b50d5371cc5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419a0f3e673004d272478a863f8b33a6ef1fdb1166a30439ff6d913258c99e43
+size 6976367
diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/facial_cleanser_001.xml b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/facial_cleanser_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..262caff9a0110f5d7419433cbc010c418ef428de
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/facial_cleanser_001.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_001">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_001_geometry_Looks_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_001">
+      <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/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a36ba13d888e9fd1e06b01baaeb8ce472425015
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001.obj
@@ -0,0 +1,105832 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_001_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289990808252b0488112955595416084579ec4f6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision.obj
@@ -0,0 +1,3809 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_001_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_0.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21b017a7b0635d6e5f6c5772602dd45018988e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_0.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_1.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df489d3d3e42e16bd64156a8fd8cdbdefee4c6b6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_1.obj
@@ -0,0 +1,1309 @@
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diff --git a/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_2.obj b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d8699c9d96d4cc1392e48226cdc4d7470e15c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/mjcf/mesh/facial_cleanser_001_collision_2.obj
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