diff --git a/.gitattributes b/.gitattributes
index 6b7ef3df60fcfe77fc554cdccd0585a110e61abd..73797cce41edb68eeedfeac3bf237fa027dcd4a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2309,3 +2309,5 @@ dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/facial_
 dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/mesh/facial_cleanser_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sponge_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.urdf b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6102afe13f70a6a48e5840269098a982f810826e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_015">
+   <link name="lotion_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>2bbf29e29345581c96858513e1d0cf70</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>white,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white oval lotion bottle with gray pump dispenser</description>
+         <min_height>0.2298</min_height>
+         <max_height>0.2298</max_height>
+         <real_height>0.2298</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144432</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034470 -0.058486 -0.089581</min>
+            <max>0.034769 0.058438 0.140176</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.usd b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ffffd8f3b32592e08d5fe93b5f04db83c1f3f342
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e146a937cc2e65b1eb1f5d63375e4314f3f80e0213c3a09f27075af0598e140
+size 4984653
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1e613e24915af5a1f8d4988fef7b2d34ec300b4e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7cc5e752e6a125f116c680a46cc52631e08f502f36a97883afe1e7cb652cfe
+size 11896348
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.mtl b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba8d782c5d96684e002126462cf2bc712b982231
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_015_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/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bf94fa91f9801430d119a6b6006a83ce7a074e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015.obj
@@ -0,0 +1,116784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015_collision.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81eba4fb1f74ce2934232db2a75fe63afeff70d9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ed46776f3af73a20ae8bd8f6ba56a1ccd3a96b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/lotion_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa49744d8c5eb9c38536fe8c2b0877427ebb242ce37cd085e9442663c7eec974
+size 8437294
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c40dd54d36c826ba7db917108039df0de8799df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ed46776f3af73a20ae8bd8f6ba56a1ccd3a96b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa49744d8c5eb9c38536fe8c2b0877427ebb242ce37cd085e9442663c7eec974
+size 8437294
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/lotion_015.xml b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/lotion_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d1d956b4a586c2242214f3536e89f9f4ab56952c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/lotion_015.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_015">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_015_geometry_Looks_material_0" type="2d" file="mesh/lotion_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_015">
+      <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/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ffe157b048085863719d3bb7c37d0c0b3cf55dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015.obj
@@ -0,0 +1,116784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170b7a61891a37461e286c5da481a2cff3318892
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision.obj
@@ -0,0 +1,7302 @@
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diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_0.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215ffeaf763daf2407542e83eb220fd4e456205b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_1.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8283d5245a49e8f675afa69d4e94080770b8a88b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_2.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749f77748cd6bb73fb27d76529649d10cbe3e173
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_2.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_3.obj b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029f3ed185f4100dc16a3ca77d700bdca9296dca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/mjcf/mesh/lotion_015_collision_3.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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