diff --git a/.gitattributes b/.gitattributes
index 9414c53e296cf9e5265e2494fe6418bb09474df1..8d7297f7ebb45f6b55c81ae44af3c807e2929557 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2309,9 +2309,5 @@ dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/facial_
 dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/mesh/facial_cleanser_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_cleanser_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.urdf b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53ec7546e0740a4ecfdadfdc9877b343d8adf1fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_008">
+   <link name="facial_cleanser_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>308094cc70a550dd92492a1ea91decef</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>cow-themed cleanser</name>
+         <color>blue,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cow-themed tube with blue and white patterns, cylindrical base, tapered top.</description>
+         <min_height>0.1638</min_height>
+         <max_height>0.1638</max_height>
+         <real_height>0.1638</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223800</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>5</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/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.usd b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..94e7367cac16e75ddd6bf01ffc9520c1c2addc0f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/facial_cleanser_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0acfe2f1898c354a1be1068c352f8de2cca8b46c3b1ead58711f7bb47e4f70
+size 4795706
diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.glb b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27da2ba453e10872325dd7f7cabb65eb17888510973221ff23208e492c09ce81
+size 13825736
diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.mtl b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0fa1dcc94796f578829f2a36c442c062213bfa80
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.mtl
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+newmtl facial_cleanser_008_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/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.obj b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffb534241b780524acb9682c364a40fb5738943
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008.obj
@@ -0,0 +1,115856 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008_collision.obj b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c18f28440ca88492d98ea8dfc524e32cd2e5348
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a977428725ef694210133834d6f541ff8850d4e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/facial_cleanser_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c6e23ebee5652f74bd51c524586eee834b6dc3ee31f9800a2f4dc4f1c3c96f
+size 10681062
diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f411bcb8243d41650a2f6ebe803244d0a965fb2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a977428725ef694210133834d6f541ff8850d4e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c6e23ebee5652f74bd51c524586eee834b6dc3ee31f9800a2f4dc4f1c3c96f
+size 10681062
diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/facial_cleanser_008.xml b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/facial_cleanser_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f24280da3050c33dbd5d9c0c4798e3efdbb3b25
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/facial_cleanser_008.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_008">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_008_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_008">
+      <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/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008.obj b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0474f4d9eecb82a9839166b06847e23e7551c4a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008.obj
@@ -0,0 +1,115856 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl facial_cleanser_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision.obj b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef08d1e7383ad4e66e199e4783ec29998613672d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision.obj
@@ -0,0 +1,3319 @@
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diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision_0.obj b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7532e8078a50fef019f0655eb3fb09413237fe59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision_1.obj b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf0a9cf7ce720ce9af29a4f085def2ac3d37a12
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/mjcf/mesh/facial_cleanser_008_collision_1.obj
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