diff --git a/.gitattributes b/.gitattributes
index be19d8276813d3fa4c90d75334101fae090b26ea..de034d9bf651bb396f28de6d82245e7c936c47e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2311,3 +2311,5 @@ dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/mesh/sp
 dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/sponge_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/soap_dish_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/lotion_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/lotion_013.urdf b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/lotion_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc1ae504db56a8245276b39916dc95cf946eaa97
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/lotion_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_013">
+   <link name="lotion_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>6610ee8d56215276b34a538cd58a3684</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>lotion tube</name>
+         <color>white,blue</color>
+         <shape>cone</shape>
+         <material>plastic</material>
+         <description>white squeezable lotion tube with blue label and flip-top cap</description>
+         <min_height>0.2226</min_height>
+         <max_height>0.2226</max_height>
+         <real_height>0.2226</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144356</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031497 -0.048198 -0.090642</min>
+            <max>0.031829 0.048143 0.131973</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/6610ee8d56215276b34a538cd58a3684/lotion_013.usd b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/lotion_013.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/lotion_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:315753294eea64ea0506baf51962315f52b2bf59e2ad9c70d48cbb42e22da5c8
+size 4783169
diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.glb b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7cf383f697fc42ac9d2550107304a23d873fdebc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e6c175ee2fb8c86593a88cf24eb7cd8b38ad89857b4e4796d7697b7ee745b9
+size 9725100
diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.mtl b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29b44ea2de5a0b125e5495147797ce0493a02320
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.mtl
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+newmtl lotion_013_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/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4b2431fb97703361f300bb79ba335ab232fc52
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013.obj
@@ -0,0 +1,105364 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013_collision.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ca637fcb629f5d1ebc93e371ea81276ad2f22c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d0281673188a26caa05313bb756e6853cfa7844
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/lotion_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3273867f0a803acb9b22b85f8d0adc089e72872bd049698d5aa312a0e3944791
+size 6593527
diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ada88064e59c0c869b9e504e5e458408980955c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d0281673188a26caa05313bb756e6853cfa7844
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3273867f0a803acb9b22b85f8d0adc089e72872bd049698d5aa312a0e3944791
+size 6593527
diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/lotion_013.xml b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/lotion_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c5fa7f4396cd068ff9491e7f51e9bdb929d9a55
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/lotion_013.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_013">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_013_geometry_Looks_material_0" type="2d" file="mesh/lotion_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_013">
+      <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/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d59882888f15b1bbe995b83ed875d7e32bd454b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013.obj
@@ -0,0 +1,105364 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d41198b3cc27e1c469fbeff0c61922ac3b76052e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision.obj
@@ -0,0 +1,6384 @@
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_0.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deef0c12386f19b865b962f66c82ef3888fb4a29
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_1.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eeaffbc3d7f080b8564a5463e9af2d2bfe67217
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_2.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035a416251b816dc4eb066af654aafd44b8559fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_3.obj b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec42bf48506e38ba7a1dfddbbd1ddc84b5ed214
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/mjcf/mesh/lotion_013_geometry_Looks_material_0.png
new file mode 100644
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