diff --git a/.gitattributes b/.gitattributes
index 95ecc2a7d6902826f5f565e63c783d3252e962d5..7b092231ac0a0bf2411dc1b072888327b3c7c7df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2421,3 +2421,5 @@ dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/mesh/so
 dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/soap_dish_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/mesh/shampoo_bottle_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c90f3f366f76587199f6d019708c334d/shampoo_bottle_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.urdf b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9bb5ab8a19de2a78c51591581009aaa3c7b18a0b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_029">
+   <link name="lotion_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_029.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_029_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>cc4c4c0b08325f83869259dd40e0fd31</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>purple,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark purple cylindrical lotion bottle with gray pump and white floral print</description>
+         <min_height>0.2332</min_height>
+         <max_height>0.2332</max_height>
+         <real_height>0.2332</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145030</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039799 -0.039955 -0.096113</min>
+            <max>0.039792 0.040045 0.137128</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/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.usd b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..da30d8b695fbf73daf0bf5796a1ebc573606777e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/lotion_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9272590c80666e42ac0c20d2040ef9e880626cc9f07ecb8894b9db5dbfac65f2
+size 4681549
diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.glb b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca4a40a9c4ac11795120406d60fe138685cb5b00
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:570995cfe29be7893055ec15e4b6c049c8170aefac054c03bdc1ca6e2ee5a3ba
+size 14063140
diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.mtl b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2afc17398b727bdebba743dcb79d26e40d5c84e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_029_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/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3cf04c3e33356f4c7e5ed5be80213b4f4ad1bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029.obj
@@ -0,0 +1,112544 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_029_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029_collision.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f1743d341be89e07ec4d6e4c923994256d1b9a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..477918f316edfc1c30f7cc6f6fd0c19e67f8addd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/lotion_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:558609bd619b1a18f11c427d5446a54efc0ece89d0854b48e8007f62f8d06866
+size 11102284
diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..79bae7204a8fb7cce9a2bfffefcbd60a28affded
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..477918f316edfc1c30f7cc6f6fd0c19e67f8addd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:558609bd619b1a18f11c427d5446a54efc0ece89d0854b48e8007f62f8d06866
+size 11102284
diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/lotion_029.xml b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/lotion_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5b760159d982145f516def238ace3b2751129858
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/lotion_029.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_029">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_029_geometry_Looks_material_0" type="2d" file="mesh/lotion_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_029">
+      <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/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770a28571e379b543d28c51bab3b44b0d57550bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029.obj
@@ -0,0 +1,112544 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_029_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7fdc0222fa241825877947fc86a97304b9faf3c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision.obj
@@ -0,0 +1,5693 @@
+# https://github.com/mikedh/trimesh
+
+o lotion_029_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_0.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2d9d37254adf5bd55e2162cdc60d33e2b318cd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_1.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cde0091cc4268052cca1a806b676f4333b13a29
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_2.obj b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ac1b086b725b9887cafaaec253a47eb57c7960
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/mjcf/mesh/lotion_029_collision_2.obj
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