diff --git a/.gitattributes b/.gitattributes
index 2d443c3723d2d9896f34b8f88b54d39b7904c54f..911b69ba6f0572d631249e797600256cdf1de15b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2417,5 +2417,7 @@ dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/mesh/sh
 dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/shampoo_bottle_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/mesh/soap_dish_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/mesh/sponge_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/sponge_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.urdf b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82049b1856e37200116752a2adfa16f2da64112b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_026">
+   <link name="lotion_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>bf88922e0cc454f1a477ef8bc23ea5da</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>beige,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical lotion bottle with white pump and botanical label</description>
+         <min_height>0.2137</min_height>
+         <max_height>0.2137</max_height>
+         <real_height>0.2137</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144904</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040631 -0.040108 -0.080040</min>
+            <max>0.040625 0.039892 0.133667</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.usd b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f1244ad082133e904d2143b5b7963a0a1bd26587
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/lotion_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830b67c948e8bc02ddf4da2ad01d901d8f021981d10c07c89a82eef138e3715f
+size 41145604
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.glb b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..968f2f98d22181297113158240e51d324d20558e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f79dd07fa3255f135e9d6c9d0245483de377ca7f1006d766e66cc06cacdd05
+size 24141096
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.mtl b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa1cd8c912081d431e44c1a5025d62a9d2cf96b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_026_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/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..415b60e281d481dff98dc6a8acab88f3c238f5ce
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63aa86955177e0b7a89fca663bd6f4ca9dc544dc5673ff8f577f3caf057dcad
+size 38267353
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026_collision.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a5753371ef2c98ce5ab8399c089110dbd297cb
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+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..68591e188dad2366226c49b71ed314835aadd101
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/lotion_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6338d653f497a46eb71ce965397c17f5730067d788755c8d41f4b01c6a54190f
+size 3638297
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14f417e1e9468b5de912c19bcb244fe3af06af05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..68591e188dad2366226c49b71ed314835aadd101
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6338d653f497a46eb71ce965397c17f5730067d788755c8d41f4b01c6a54190f
+size 3638297
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/lotion_026.xml b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/lotion_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..62226f807db189f1c7078cd2fadd9076243ba06b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/lotion_026.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_026">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_026_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_026_geometry_Looks_material_0" type="2d" file="mesh/lotion_026_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_026">
+      <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/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2cbfa314db2c5672766fd5b667785660ab2f13
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3475a0368340b32b3902c1f88d2a9312eb35c6cc28a174744f193dad51fd8714
+size 36552982
diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..110ae7e39ad466b3d268babc80df1acc06ca8d05
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision.obj
@@ -0,0 +1,7091 @@
+# https://github.com/mikedh/trimesh
+
+o lotion_026_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_0.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16e171a43b62a24c96bcf8cf0de2cf8fb0fac04d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_0.obj
@@ -0,0 +1,5752 @@
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diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_1.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacc50e54840d014b2c014528187110fb15d78ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_2.obj b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..220263f414ce169efe99c951f56aa620790d9813
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/mjcf/mesh/lotion_026_collision_2.obj
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