diff --git a/.gitattributes b/.gitattributes
index 0e5d4dd052b418061d96427a97a512d1220b643b..28b11f9d1abee176dd27bba715f9697d4392e4fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2359,3 +2359,7 @@ dataset/bathroom_supplies/bath_products/9a73f466719e5ca99cfbf51a75f19df8/mesh/sh
 dataset/bathroom_supplies/bath_products/9a73f466719e5ca99cfbf51a75f19df8/shampoo_bottle_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9d4489e26d475f208cf4ca3e49a44cdf/lotion_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9d4489e26d475f208cf4ca3e49a44cdf/mesh/lotion_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.urdf b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2040f5e0d066e68f48c7a3314f5dd0204d32a2f2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_016">
+   <link name="facial_cleanser_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_016.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_016_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>9868e29e57705ab29984bb7f238680b1</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>cleanser tube</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white squeeze tube with flip-top cap and blue logo</description>
+         <min_height>0.1695</min_height>
+         <max_height>0.1695</max_height>
+         <real_height>0.1695</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142159</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023558 -0.034397 -0.072603</min>
+            <max>0.023732 0.034586 0.096883</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/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.usd b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/facial_cleanser_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:466445cfacb81aca31fa636d60344c33b0c9c4bfbdd8c551062a3deecb7d52ed
+size 40181986
diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.glb b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..437d8c3dad5073c714777bfd5385180da2e05ccf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22061076
diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.mtl b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c40c55e1b70670fa3dd399223f02caed83ea30ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.mtl
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+newmtl facial_cleanser_016_geometry_Looks_material_0
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+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/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.obj b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64d763ea4eb365f29adb1b4505633cd360d4bb0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 39701542
diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016_collision.obj b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016_collision.obj
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04cc4aa699ea657281ff3b8f6bb16c4a470717cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/facial_cleanser_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0ce058d52a86fbe3c8eb5baf503e20e4dd793d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04cc4aa699ea657281ff3b8f6bb16c4a470717cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7516eff866040a5f188376ef00d6c237e9488ccf33a1a441e6ce14a9a46f5534
+size 3192980
diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/facial_cleanser_016.xml b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/facial_cleanser_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa2215b1f118e4cbc4277d07509d235fd33f0395
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/facial_cleanser_016.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_016">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_016_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016.obj b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3592f165eaf08171264570cbcad274c6c4e2ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5d0ca73727812912cbc421b1160fb1323c2d8b2b7d6943cbec8f946293fb4f
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diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016_collision.obj b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3103e892e91883fd662ecbd7c8bcfca51421701
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016_collision.obj
@@ -0,0 +1,4741 @@
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diff --git a/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016_collision_0.obj b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3103e892e91883fd662ecbd7c8bcfca51421701
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/mjcf/mesh/facial_cleanser_016_collision_0.obj
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