diff --git a/.gitattributes b/.gitattributes
index d3e928e96f457fc5733850e386d57a697c926d88..18a56521d1e0346f30353d8f5cbd23600a0cc5e9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2369,5 +2369,5 @@ dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/mesh/sh
 dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/shampoo_bottle_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/mesh/soap_dish_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/soap_dish_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/mesh/sponge_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/sponge_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.urdf b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a485f5d847809be9e7c8ac3fd3c3d48a94a5fb0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_008">
+   <link name="lotion_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>aa563e8bdcef55bcaee08fcd3cd222ee</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump bottle</name>
+         <color>brown,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown pump bottle with a dispenser and printed design</description>
+         <min_height>0.1484</min_height>
+         <max_height>0.1484</max_height>
+         <real_height>0.1484</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224734</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <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/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.usd b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fa98254171b7c682d124856fd12bc4bbf65fd988
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2282f2340e588ea0f8f47936a7c87f5f63fda09039392acba3f1a2773cc43a40
+size 4822681
diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.glb b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..47e85b393fb87403364b362378da6a419cf3b051
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1508296c288ed67884ff32108dc153ef3571e9a4fba20dea0e855099e07f30
+size 11832168
diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.mtl b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5013a842cbeeba28d46cb60696d2b6243b740b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_008_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/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e09113e01925222205ec1381d0cc5ac9477e5fd6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.obj
@@ -0,0 +1,108082 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008_collision.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf06ade9e597930c6983a6713017ba66e246f1dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008_collision.obj
@@ -0,0 +1,7833 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aa4e2b404857ce2282901a0a1a30a54511f8f1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a6cf34efc9e9435ec9ce254b3fd5fdc4af9e5827555a027e0f3c8ce5d562a19
+size 8633689
diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..15d35153a797dd63e698572ab33dcdeabd7c8d63
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aa4e2b404857ce2282901a0a1a30a54511f8f1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a6cf34efc9e9435ec9ce254b3fd5fdc4af9e5827555a027e0f3c8ce5d562a19
+size 8633689
diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/lotion_008.xml b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/lotion_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f57663ded117727e52424c8a9af44545fac32809
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/lotion_008.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_008">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_008_geometry_Looks_material_0" type="2d" file="mesh/lotion_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_008">
+      <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/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9b0a7d7490d315c77d38978f83929bc1061bb4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008.obj
@@ -0,0 +1,108082 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3cb73a6f750b5527e02c808c546032dea9d8d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision.obj
@@ -0,0 +1,7833 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_0.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd8beae1f85d5cc2dd9503828a23e975c0930207
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_0.obj
@@ -0,0 +1,6166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_1.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b4ac5c938c6b13b4b6ecbdb6d078960a5cf970
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_2.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60413674a5db73ed1705e06571d400aca9073d50
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_3.obj b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c891c00577ee975c1b167b108015e781a862650e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mjcf/mesh/lotion_008_collision_3.obj
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