diff --git a/.gitattributes b/.gitattributes
index 66345cd677870137bd800975c58f49c5db85da7e..4f10732f3aa763ddd126c5606707a63df8145d94 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/67dbf51b5fdc5d8aabe51c6bae453d07/hand_sanitizer_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/67dbf51b5fdc5d8aabe51c6bae453d07/mesh/hand_sanitizer_019.glb 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
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.urdf b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..022546cd3826d86fe049287d09df49222bd4bf41
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_006">
+   <link name="facial_cleanser_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>612919db3a675bf4b7155a3a989af983</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>men's cleanser</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular bottle with pump dispenser for liquid cleanser</description>
+         <min_height>0.1109</min_height>
+         <max_height>0.1109</max_height>
+         <real_height>0.1109</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223728</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>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.usd b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..039c16c23959679953281e724444a30354f5d6f0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7117268b1f1aebbdb331019bdb09ea1c668ff70c0f7b77eaa0a0c4faecc5fb3
+size 4632700
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.glb b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..680b3ae7cbb38f8f8e3051fa29516a32935b077d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da11207fae2af4efa9fdb133cd3a76d6cd28edb55e8d09f6d2503491f972cdab
+size 9335736
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.mtl b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..828069e4e2d55ae34461bf6eb1d14dfaa319a1ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_006_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/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613d885bfb8c071bd1f144fda5abaa44ae884700
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006.obj
@@ -0,0 +1,104896 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006_collision.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790ce92f455c02261ffc384981d2cbd88beb3977
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d3264edd9ef5a2126dc23c0cdb7b86e92ee8092
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/facial_cleanser_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3059a7e7e8ff183aac5c4a11074bd19156f5ec692275dfa3af9eb2765e1c0dd
+size 6445319
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85ea8166f254a4a49db177182b9afb19c795febb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d3264edd9ef5a2126dc23c0cdb7b86e92ee8092
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3059a7e7e8ff183aac5c4a11074bd19156f5ec692275dfa3af9eb2765e1c0dd
+size 6445319
diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/facial_cleanser_006.xml b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/facial_cleanser_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cda5b2ce6f61dcc7ade03f49581a89fd7023946a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/facial_cleanser_006.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_006">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_006_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_006">
+      <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/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d3ecf11275770841c6f9c1b872d19fd0e4f8aa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006.obj
@@ -0,0 +1,104896 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ac378b847a1e0a18c76aed7663dfcef08c47df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision.obj
@@ -0,0 +1,7967 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_0.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01b843baf33cedf337cd0da754d736d3252f036
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_1.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a03c4fc4ffa821ed7639297ed9b1c08f1cb1f19
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_2.obj b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6639f774b9c8a6128fae0eda7db99a99052ecdcc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/mjcf/mesh/facial_cleanser_006_collision_2.obj
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