diff --git a/.gitattributes b/.gitattributes
index dc49c11df480b1ab99513a74cf32346a93d72732..b0679a5d9dd2a6d7ddd0ebe007ab56b9c69f09b3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2337,3 +2337,5 @@ dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/mesh/sp
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/sponge_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.urdf b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5dcfc157a4c85ebdb63f9d817dbe99ac3928862
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_019">
+   <link name="lotion_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>83d6b64f510e5d948dca689513291bb1</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white cylindrical lotion bottle with pump dispenser and printed label</description>
+         <min_height>0.2312</min_height>
+         <max_height>0.2312</max_height>
+         <real_height>0.2312</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144548</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036551 -0.039917 -0.091755</min>
+            <max>0.036582 0.036377 0.139420</max>
+         </aabb>
+         <tags>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/83d6b64f510e5d948dca689513291bb1/lotion_019.usd b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bb98bf699b24177245fd5840f757c6af9095b19d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/lotion_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7e5bc110b6bea7052a75a9e0899df6b3712b4617ba76de78559e3ab2cafde5
+size 4801569
diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.glb b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7010ecb7fef22716932bd555ad7ff48550785a33
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:736d70de3893597befa7ad5a69b15a39b288d7e1031cb36a654203747a8810f8
+size 11055272
diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.mtl b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f072080b0e24e64784d0eb18b6660020a52c1c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_019_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/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bb5cca163db66a457e168b341058c41c3675b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019.obj
@@ -0,0 +1,105368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_019_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019_collision.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454ebc619188c481993e34104ceb112a6f854312
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/lotion_019_geometry_Looks_material_0.png
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..e357de0124e970a6b20b8fc0ed6f50be47f0b6ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_019_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 lotion_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d5efa963f08374bf324e9640d299fc66bf26490
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e974c9938aaa582e41ef26ef018491d80a7751740b44985da86e3227661128
+size 7890013
diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/lotion_019.xml b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/lotion_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4df9b9d21253fd95ee754f69198b3d6c4cebc56b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/lotion_019.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_019">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_019_geometry_Looks_material_0" type="2d" file="mesh/lotion_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_019">
+      <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/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a77a68dbab75018980fe66041432bf2706b1e35
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019.obj
@@ -0,0 +1,105368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_019_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a80cb4433ff2e7a41e96cc868dc9ea698ea5eea8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision.obj
@@ -0,0 +1,5591 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_0.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405e6852d5402d06eacf5cb2a0045e60bb8b76a0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_1.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a46a6abffb35a20e64b8c3b5e693c015ffddef
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_2.obj b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..156425ef35e9d7c22874a178c9473f353beb9b3a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/mjcf/mesh/lotion_019_collision_2.obj
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