diff --git a/.gitattributes b/.gitattributes
index e12f0d767e395169d57f5ebbf23ebe5c2e7d1cb3..6545fc3212e7d2f103f979956c0f3f6eeb1cbecf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2345,3 +2345,5 @@ dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sp
 dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9500b595c55d5c90942e47c5f4355fed/mesh/sponge_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/9500b595c55d5c90942e47c5f4355fed/sponge_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.urdf b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c67a6b35304b4e65f9cfef95f2d75801ff78aa5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_023">
+   <link name="lotion_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_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/lotion_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>957606ede0245fac9180e528c294454a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>green,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pale green cylindrical lotion bottle with white pump and front label</description>
+         <min_height>0.2050</min_height>
+         <max_height>0.2050</max_height>
+         <real_height>0.2050</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144719</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040846 -0.039907 -0.075533</min>
+            <max>0.040439 0.040093 0.129492</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>NO: {"summary":"Label sticker is segmented as a part, but it is not a functional physical part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.usd b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..932c3f93e8cb12ad6f62e847b905a7330ef129ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6f03d1e508cc2357016b1edabd08bfff084469f4aee83b2f0db5036920413c
+size 4817431
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.glb b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c3589354f245843663e5450d0686dc94dbbf2fcb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da79a44a68b5f35760dd62bfa39d7e474c65a43b08484cc1b142d155d1b1430
+size 11806152
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.mtl b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..89abc3e39c49fe1b64a559010f8419ee4467798e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.mtl
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+newmtl lotion_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/957606ede0245fac9180e528c294454a/mesh/lotion_023.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e97fd17edbdfe6f61e3219646c493033e35fc4a5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023_collision.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b32f4e028f07f96a48e1a0d1fa8b47dcb3d2a6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023_collision.obj
@@ -0,0 +1,7148 @@
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diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff1d4b72625fbd6695d3ae1038f282ac9e958c8a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ee489cd1605a259aef7f9806b7016a93841b14598ae240fb32892f6d52639b
+size 8598497
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b856180cb74504180a2f43c9287388f9701195fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_023_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff1d4b72625fbd6695d3ae1038f282ac9e958c8a
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ee489cd1605a259aef7f9806b7016a93841b14598ae240fb32892f6d52639b
+size 8598497
diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/lotion_023.xml b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/lotion_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16998b404fc5ff2a9f5f4269685f2d7603e619be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/lotion_023.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_023">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_023_geometry_Looks_material_0" type="2d" file="mesh/lotion_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_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" />
+      <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/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6584761c13ca1cf2f87450199c5c368b443fc3c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45a0fe06885d1cf1d27dec8b75b42c6e21110709
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision.obj
@@ -0,0 +1,7148 @@
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diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_0.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb2b73183e847343f57844a7a5cd9d59abe2f83
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_1.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73037af81ed857bd237f7dda8d0bdd6a22a0ba73
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_2.obj b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..259546ec5360033f6a971e9e010ca4cb1e7a4c0c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mjcf/mesh/lotion_023_collision_2.obj
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