diff --git a/.gitattributes b/.gitattributes
index 26daa7686b2f8b4ebaac2fcc1ab73439df76cf25..643529d4f0587cc9d0a71dbaec31406283a31a12 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2337,5 +2337,7 @@ dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/mesh/sp
 dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/sponge_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/mesh/shampoo_bottle_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/848777723d095fada54b4921cdc92ded/shampoo_bottle_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/facial_cleanser_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/mesh/facial_cleanser_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.urdf b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38e51faac98c682ba74e367fa6fcf4c8dc469291
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_025">
+   <link name="lotion_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>7e3e2fa8704e56ceb3ee9fb36e53a3eb</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>pink,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink cylindrical lotion bottle with gray pump dispenser</description>
+         <min_height>0.2041</min_height>
+         <max_height>0.2041</max_height>
+         <real_height>0.2041</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144823</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036387 -0.043800 -0.079391</min>
+            <max>0.036400 0.036200 0.124697</max>
+         </aabb>
+         <tags>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/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.usd b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.usd
new file mode 100644
index 0000000000000000000000000000000000000000..af66d1bfc7a88694c069b52c80feec12280e0066
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/lotion_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70768a7078c3a1da13a80e32e9b9a03732690823a062a99d37617ef1a917ddf
+size 40826670
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.glb b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..357c419e2550a25ec9a9e02b5f41493de16e1902
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71463e72dc68539770c28f1c1c602f2442c49d6772ae35f64e32b59cd377bad5
+size 23354812
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.mtl b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..118e7096e2770154e9df036924e5fbfad6d09656
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_025_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/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2368f464a966d92fda18099c6fff0af24fb62af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:691ffd7a18e442ee240378ec47d521f539bb9c7bd6f7b353bb4ab0b881577182
+size 37337493
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025_collision.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ea75489b0d616022c7063b117613450bc5130a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025_collision.obj
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+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46c2b424226ab24d2478c0e419c16fe26788f5c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/lotion_025_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6caa17a8e86006ec50968963c16ba4f3213197123a7f83232c024a74e0c0fcd
+size 3323152
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0fa43dd3c906d53ce35ff8b728ffd81bf42a3052
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46c2b424226ab24d2478c0e419c16fe26788f5c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6caa17a8e86006ec50968963c16ba4f3213197123a7f83232c024a74e0c0fcd
+size 3323152
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/lotion_025.xml b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/lotion_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01175521afc4792be947fe1d20fa76f3c2c306dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/lotion_025.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_025">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_025_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_025_geometry_Looks_material_0" type="2d" file="mesh/lotion_025_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_025">
+      <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/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6c2909c80bb285d1246c4247abf8eada4b8dec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90fc50f3b48f2a8d6a135d91dae63949a1ec2400681d71a907a557ffe69da7b9
+size 35731717
diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e49a6affbcf145385a06aa3d97718aa18c1857b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision.obj
@@ -0,0 +1,9369 @@
+# https://github.com/mikedh/trimesh
+
+o lotion_025_collision.obj
+v -0.01955232 0.00253787 0.11282586
+v -0.01930696 0.00137077 0.11156530
+v -0.01899260 -0.00203541 0.11470941
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diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_0.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70f67c7f98cfd71a37f72aa29050814aace49ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_1.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d9f2fc18a3c942ac008b29a0957faea6cdac732
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_2.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50df1e9b9a43c7175118f2d48be4c70adf233da3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_3.obj b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cea049929b563c18912b13af5674628e1dec2d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/mjcf/mesh/lotion_025_collision_3.obj
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