diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_cleanser_018.urdf b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_cleanser_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..052e0a1e266d45a35aee3c253c79d02b1c9fc5a0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_cleanser_018.urdf
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+ bathroom_supplies
+ bath_products
+ facial_cleanser
+ cleanser tube
+ brown,beige
+ cylinder
+ plastic
+ brown squeeze tube with beige flip-top cap
+ 0.1197
+ 0.1197
+ 0.1197
+ 0.08
+ 0.18
+ v0.1.0
+ 20260518142314
+ ""
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+ is_graspable
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+ 4
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+ affordance/affordance_annot.json
+
+
+ YES
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\ No newline at end of file
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.glb b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.glb
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.mtl b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.mtl
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cb4705026ac2b02e349855220fba91dd7db16f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd73dce438c2e47c21f42b6dd75830086e1780a3452395b093e895c2fe79fc5
+size 3448991
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9ef16c505a2a2180304ca966410f910bd4f5397b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cb4705026ac2b02e349855220fba91dd7db16f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd73dce438c2e47c21f42b6dd75830086e1780a3452395b093e895c2fe79fc5
+size 3448991
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/facial_cleanser_018.xml b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/facial_cleanser_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..388fc493b7368797d7da310729f71a7159188103
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/facial_cleanser_018.xml
@@ -0,0 +1,22 @@
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5dfe7e24ebc2a70393de3345d324a53556f888
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc559cfe6a7e02600d2b67c6a8f22fcbba6fd5db1bf17754c8c70f17cee88c48
+size 36702352
diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d768d0edabdc758673f78e49060e271192eff54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision.obj
@@ -0,0 +1,7044 @@
+# https://github.com/mikedh/trimesh
+
+o facial_cleanser_018_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_0.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3b88b2a0d82f521f98669b63b15a2c5713d331
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_1.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52c4cd0f22d8cecd3f8cc12ff8aa68acbcf606f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_2.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62bfbbab31fcc4745da18990e699c4c94e979e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_3.obj b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333760b1714c3b74640c26dd1b3de38673b2dd6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018_collision_3.obj
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