diff --git a/.gitattributes b/.gitattributes
index 91899d268c987081c926203fa2259b2649d41b02..71d99f2fed8b94069e902f71f311c1867594750f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5237,3 +5237,7 @@ dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/facial_
 dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mjcf/mesh/facial_cleanser_026.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/facial_cleanser_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/facial_cleanser_014.urdf b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/facial_cleanser_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1543baa2727d2b859ffebcb54112fc8be8507d7c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/facial_cleanser_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_014">
+   <link name="facial_cleanser_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_014.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_014_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>56e20a190dab5969896160880f339259</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>cleanser tube</name>
+         <color>white,pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white squeeze tube with pink cap and red logo</description>
+         <min_height>0.1681</min_height>
+         <max_height>0.1681</max_height>
+         <real_height>0.1681</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142040</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025471 -0.035344 -0.070981</min>
+            <max>0.025862 0.034574 0.097097</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/56e20a190dab5969896160880f339259/facial_cleanser_014.usd b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/facial_cleanser_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/facial_cleanser_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc3202b93f2f62e33596084ee3846a51fccfb2f6fa1f2184f74547f5586438c2
+size 40655519
diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.glb b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7dbd20eb5954c308715ebebb22c1bb1b59307ada
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ed1384c0e66a3aa17055252cae5cbc7394c3d08876f12a764412d3b03a0c27
+size 23069252
diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.mtl b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c25b2fcb5198c7e1807e44398b18bb786a89408
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.mtl
@@ -0,0 +1,6 @@
+newmtl facial_cleanser_014_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/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.obj b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c259858ab88ee6f6f76d1cf9e7df84e106b53dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41042ef49e4c34b313b3b7bb17913eb2dabb20fc1bcb3ddbb7a815ba4f9c8074
+size 38418280
diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014_collision.obj b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014_collision.obj
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1586776050c4e4406dbe14cffb1d0df69cc9acd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/facial_cleanser_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8488c551e57c359e5b627cfbd96d3195ebd2337263f1603e246105aa987a8d8
+size 3398502
diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c474c044cf037f2999d71c4eb9be57eba1d623e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/facial_cleanser_014.xml b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/facial_cleanser_014.xml
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index 0000000000000000000000000000000000000000..eabd047983b1d8d43812af8b204b7541ca135f63
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+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/facial_cleanser_014.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_014">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_014_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_014_geometry_Looks_material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_014">
+      <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" />
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+</mujoco>
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diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014.obj b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision.obj b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision_0.obj b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e44ff8e31a0cd50b8e70ff9d88ce9f42bf27d52c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision_1.obj b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3cfd15bc0e69e2334995b86a545d3e2cf84229
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014_collision_1.obj
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