diff --git a/.gitattributes b/.gitattributes
index a7dd2906cc579ae585ab025ff026d7e0b8140fbe..497a6ab91eb7ee6ad45e45b7c9f0bb1c19a6bcef 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2329,5 +2329,5 @@ dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/sh
 dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/hand_sanitizer_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/mesh/hand_sanitizer_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.urdf b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..195620d629e44cc3daa431368837827619ef2f2f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_016">
+   <link name="lotion_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_016.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_016_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>7bb4e1975cc4589eaddb9f88f9aaec08</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>white,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white oval pump lotion bottle with blue wave graphic</description>
+         <min_height>0.2330</min_height>
+         <max_height>0.2330</max_height>
+         <real_height>0.2330</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144450</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025398 -0.057510 -0.094005</min>
+            <max>0.025257 0.057531 0.138976</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.usd b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..39a2e90974b5f91d739995f20a2546ca32e55618
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/lotion_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6e423f268641fcb82920684e177ff1848ebcee85573f3298b14d6566582b4b
+size 4861101
diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.glb b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..42bb6f90c5527a6900d9fd76341a68db90c4293d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c614976d2ccad10091a361ec36410457212d34f491ca0c5a0fbc30bda861c900
+size 11109784
diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.mtl b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a9c142f739feb74399bbfc2a0da7c6d51575be1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.mtl
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+newmtl lotion_016_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/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f33e27aa5b86e1fa614598a4e1ccc10fad010c01
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016_collision.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e440a4afaad711909b0a5ac7512c57520920e76
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016_collision.obj
@@ -0,0 +1,12077 @@
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diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1117e827616425706e119a9b3742d477562734e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/lotion_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fceafff3f12cdea41bb9869622cf317cb1da4d85b3716eee985c430a89798a5
+size 7840907
diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee991802117c4a945e13a2a5a96111fd0398b9db
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1117e827616425706e119a9b3742d477562734e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fceafff3f12cdea41bb9869622cf317cb1da4d85b3716eee985c430a89798a5
+size 7840907
diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/lotion_016.xml b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/lotion_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0d12d9f240f055c74c97647205b28c237092265
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/lotion_016.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_016">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_016_geometry_Looks_material_0" type="2d" file="mesh/lotion_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_016">
+      <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/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfea1e3e2bbf280100bacd90dcc35f424f66a976
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016.obj
@@ -0,0 +1,105440 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee502eb830515a131ec59e8ca93bb5fd73f8faa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision.obj
@@ -0,0 +1,12077 @@
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diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_0.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cd4d58550832010cc0a893569463e67d8020a7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_1.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cd78d4924623a4aae75855c2eca0cffb6860b3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_2.obj b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082893470620b44e34c8d6175623e5a06ad9113e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/mjcf/mesh/lotion_016_collision_2.obj
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