diff --git a/.gitattributes b/.gitattributes
index d0eb19ecafc5d0e1eacef96fb7f27655a9a0bb35..5c066921a82d3050eea2ed7c979301711e2f94c3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2323,3 +2323,5 @@ dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/mesh/so
 dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/soap_dish_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/73bede559e2b5007884269e740a475cc/mesh/sponge_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/73bede559e2b5007884269e740a475cc/sponge_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.urdf b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46bcf3bfd6eb324740e792fca1ae9bd63c9b5550
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_018">
+   <link name="lotion_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</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>73856ed2b89e535d83cdcc2fd667389d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white oval pump lotion bottle with floral pearl decoration</description>
+         <min_height>0.2324</min_height>
+         <max_height>0.2324</max_height>
+         <real_height>0.2324</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144527</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051338 -0.051361 -0.087729</min>
+            <max>0.051311 0.051581 0.144669</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/73856ed2b89e535d83cdcc2fd667389d/lotion_018.usd b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5e360f130a179e146ac4fdf6ed307147b84602b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/lotion_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe22975e7c3b570f54f7f1b6a2338907965a484301b39b973ca6466862a211e2
+size 4896831
diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.glb b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d4328d3f5387bcb2a885ed4a815597d09b61ff5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc11571410cd76d1fae5baddf953e54f4abe8b97f0343f0901f91c7601c2410b
+size 11090792
diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.mtl b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a7401b970cd596b7b3997803d7e8c49537417ff2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_018_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/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c1a26cf4a21152831327d8a079d30619d45b12
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018.obj
@@ -0,0 +1,104980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018_collision.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..785c24418eaa0bff94eef91e23065bb72960ab62
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2310aca33fa9c8253c4bcd4df7f8e6c285768b05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/lotion_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c90df42211a89b2ff6e1530869885ef9ef54e5f49b512277e7f20b6578c4a42
+size 7767420
diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3326b06c7f90a7af76553491d544efbff831cf92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2310aca33fa9c8253c4bcd4df7f8e6c285768b05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c90df42211a89b2ff6e1530869885ef9ef54e5f49b512277e7f20b6578c4a42
+size 7767420
diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/lotion_018.xml b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/lotion_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dfde6a9c3ee3efa11a5a6b76a6c17f7e08a657fd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/lotion_018.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_018">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_018_geometry_Looks_material_0" type="2d" file="mesh/lotion_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_018">
+      <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/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07ce7de437eba15e1ea2ee4c43b549a815b5b9c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018.obj
@@ -0,0 +1,104980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641a47642611e0582793c15b9ba1caecbc2b22be
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision.obj
@@ -0,0 +1,17097 @@
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_0.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..445fa545f06639b701a5b9b033013df6bf76c4df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_1.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4abe57da2d3f094848adedbc8e1ad42d675f5b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_2.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d4208fc45028686425ccea53e2473d74dffaab
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_3.obj b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_collision_3.obj
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index 0000000000000000000000000000000000000000..0ee91fa94e9501c73e0275db612faa7652f0de2a
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/mjcf/mesh/lotion_018_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/textures/material_0.png b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/video.mp4 b/dataset/bathroom_supplies/bath_products/73856ed2b89e535d83cdcc2fd667389d/video.mp4
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