diff --git a/.gitattributes b/.gitattributes
index 61b1c308db97596b17d3f5cb1de8bfdc0163ad5b..f0236d3bf10407f4ed623c6b70bcfed4f3d334c1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2341,3 +2341,5 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/so
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.urdf b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d1ca80438273c6d93d4d92d151b54aa5b5e0189
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_006">
+   <link name="lotion_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>8cac7f5e02ad5e76a6a233678e07db7d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump bottle</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white pump bottle with blue logo and text</description>
+         <min_height>0.1701</min_height>
+         <max_height>0.1701</max_height>
+         <real_height>0.1701</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224655</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.usd b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4f5a83210788bada28e6a9bd1289b3c1d2239b49
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/lotion_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e723545b12ee9fbe1c2a6427a4c1d4d48497bf8b982e3c266ea5452fb8966d21
+size 4873590
diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.glb b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..48cf6f33419db826e89852c9f85c4a6ab646077d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998b99becef6d1c6e693c0e0a67782b10addf7d790edfd8ed02e3a44d5685c60
+size 10664844
diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.mtl b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b31cfb2e5acb309816bfc0097e4ceb2b85167289
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_006_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/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9590cb28e5c5693e277f6e63f0b2245b1d2aec57
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006.obj
@@ -0,0 +1,106828 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006_collision.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f8b418eaf62041cf3975ad5f18ff217264a10a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006_collision.obj
@@ -0,0 +1,12744 @@
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dca1858b1477ec47f3a21c114fe645c5e069d9a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/lotion_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc9162ffdc06875277014686583f750b1fd2d8562b303026d4d134fb3ee08a6
+size 7385991
diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6fe828f5c1c9fcc0cae4dcd76bb3e10f71623579
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dca1858b1477ec47f3a21c114fe645c5e069d9a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc9162ffdc06875277014686583f750b1fd2d8562b303026d4d134fb3ee08a6
+size 7385991
diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/lotion_006.xml b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/lotion_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd36882acade42d85af7a27415a81a8fa2a45bfd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/lotion_006.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_006">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_006_geometry_Looks_material_0" type="2d" file="mesh/lotion_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_006">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" 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/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8408411f0e2634a690109b9fb3313d83924075ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006.obj
@@ -0,0 +1,106828 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_006_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87b9dd008a4a68d69f09993cbc1c327b5af99d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision.obj
@@ -0,0 +1,12744 @@
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_0.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..769a5e7878d6b465ab6d3ec06c6f3fec54841bc4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_1.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc78349f133bbff31c230bd2b2802d98a229c488
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_2.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10fa5c415ac27a6ec1b1d9f527e43450eb3bc69
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_2.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_3.obj b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91e3232ff1708daa89f3579bf1e3574df7d063c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/8cac7f5e02ad5e76a6a233678e07db7d/mjcf/mesh/lotion_006_collision_3.obj
@@ -0,0 +1,895 @@
+# https://github.com/mikedh/trimesh
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