diff --git a/.gitattributes b/.gitattributes
index c5f8ca41345d799fffeefea54b51599207b89193..0e3c90a6fc2ff4b2da141e054213b6f9f6795bca 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2411,3 +2411,5 @@ dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/mesh/ha
 dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/mjcf/mesh/hand_sanitizer_027.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/mesh/shampoo_bottle_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/shampoo_bottle_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.urdf b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1966c4a79133a03e7182866d4b294e7d56229128
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_009">
+   <link name="facial_cleanser_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>c063ef22c58b5ddd80c173cff6b38995</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>dark cleanser tube</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>sleek dark tube with metallic cap for facial cleanser</description>
+         <min_height>0.1327</min_height>
+         <max_height>0.1327</max_height>
+         <real_height>0.1327</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223817</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>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/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.usd b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ac3a8db0e3de826bef0ca21046f6b7dcc833ec2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/facial_cleanser_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41cfaf327a184590783daa27f3caa89042824884c998c4d0faf17fc78e5e9c18
+size 4613850
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.glb b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7a4cba6aaf873be2153a9f80dce31f6ab05835a0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5eedc94cb90a70984b5fca786f32889fbf7d90b043ae07af3258cce8290515e
+size 11024432
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.mtl b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2bd23800c153f6635c3f952c18ef73d90564eedf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_009_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/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.obj b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9ee7aba86d6f9981740575205275d9499622fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009.obj
@@ -0,0 +1,104356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009_collision.obj b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d479b33c3c85ed91f8fea39ac737b1b21afefd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12db06303e26c2db7f6e18187b050ef0c14a8e6f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/facial_cleanser_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8bb13ac96f77723e5d6f559fe6ad860e99b37a1a988aaefd3019f2931ac000
+size 8163935
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94585350ebafb6b3d83eab03e41446aa7958e216
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12db06303e26c2db7f6e18187b050ef0c14a8e6f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8bb13ac96f77723e5d6f559fe6ad860e99b37a1a988aaefd3019f2931ac000
+size 8163935
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/facial_cleanser_009.xml b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/facial_cleanser_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01ee785cf54948bc633cf6e0bcdf19c573b65bae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/facial_cleanser_009.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_009">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_009_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009.obj b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a35c80da5e11c5d0f89f4738c63ff76636394a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009.obj
@@ -0,0 +1,104356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision.obj b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9235d6b68545971aa4bcf6a9d9690e1033de39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision.obj
@@ -0,0 +1,3643 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_009_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision_0.obj b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80f7b20fa8539d1994f500875674dc0628aacb4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision_1.obj b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0788f865568fbb7a65d5c8775978eb1a5b0653d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/mjcf/mesh/facial_cleanser_009_collision_1.obj
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