diff --git a/.gitattributes b/.gitattributes
index 477ae2a478c5887aaef0b7622182a00eedff4971..813f2e468bd20af7b779b77f9e512c06035534f6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5193,3 +5193,7 @@ dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/mjcf/mesh/wrench_001
 dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/wrench_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.urdf b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..61a5a82571c06fb0ae927ba7704ace38baa13891
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_023">
+   <link name="facial_cleanser_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>27503a2964985f94bb02b58a09a4468a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>oval plastic facial cleanser bottle with pump cap</description>
+         <min_height>0.1537</min_height>
+         <max_height>0.1537</max_height>
+         <real_height>0.1537</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142635</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010192 -0.034382 -0.062839</min>
+            <max>0.010602 0.034849 0.090827</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.usd b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/facial_cleanser_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db205e5f1f1f6d70de72331a6272eef8981249fdd5c46d1158c69f94c0d6c37
+size 41387593
diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.glb b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..46c2992c8f7248dceedfba04ceba992e9b21d58f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f76735709b38858bb5c056b674971acbbf345ea5385d86e0b94875f9d2e94361
+size 24767444
diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.mtl b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4bd4361a10cfc3ed22bc244fdc81451d837f0de8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.mtl
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+newmtl facial_cleanser_023_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/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.obj b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7848341d0cb74c1db9274793331a360cf2cf7d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023_collision.obj b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023_collision.obj
new file mode 100644
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..29744de4c35208b61fe1fe580d9eeed364c22051
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+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/facial_cleanser_023_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebd86242e93f5b3be6410ba69a913438d9bc7f30adc17948e5798dc93691d51
+size 3882218
diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d5205d6daa76f00b4e8b9c3b3e9042bdea8c58c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_023_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..29744de4c35208b61fe1fe580d9eeed364c22051
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+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/facial_cleanser_023.xml b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/facial_cleanser_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2e9a04becbd01cd4dd9f28bbfb9baf552d59b45b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/facial_cleanser_023.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_023">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_023_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_023">
+      <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>
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023.obj b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023.obj
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index 0000000000000000000000000000000000000000..9fa8965ff6f2e047fb515f4bcec9faf8ff4704e1
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision.obj b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdccd6fd1cb8fc6796fdc0a70105ad72ec1908a9
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision_0.obj b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc85d7ee21d6249dc694de6401289bad830466be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision_1.obj b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929ba778a2445e78786bbf7a0aa559c926d9562a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/mjcf/mesh/facial_cleanser_023_collision_1.obj
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