diff --git a/.gitattributes b/.gitattributes
index da814a86750f5d670b6660ae8cb507989635c72e..762f7aba033b46cf6e5664d38d6483814b4b04a8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5219,5 +5219,5 @@ dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/mesh/ha
 dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/mjcf/mesh/hand_sanitizer_023.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/mesh/sponge_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/sponge_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/mesh/sponge_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/sponge_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.urdf b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9fc9b1b6f83c7f5add45761345cedeedf34afb85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_002">
+   <link name="lotion_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>3f9689ecf5ab547a820e5e2b4849a455</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>lotion bottle</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>smooth gray bottle with rounded edges and cylindrical cap</description>
+         <min_height>0.1137</min_height>
+         <max_height>0.1137</max_height>
+         <real_height>0.1137</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224533</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>4</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/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.usd b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a61b0b8b452f983eace16745a839d7a223cdd865
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d664b98c984cba13853bba3c887b0164ef7e0c80e4b3800c93ed607bccc30f51
+size 4905878
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.glb b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..761c6bbb46851a39cd30e279aeb55b365c056114
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c70364cf7d47fd60d3794ba27849fe0e51339e111a8d77b09e1aea16d7d22d
+size 11462196
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.mtl b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dfe47f0d1f1bdbd5274cd0a95789347490c5923
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.mtl
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+newmtl lotion_002_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/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b59ea9209a130cf57199ea73989bce89c7f2dff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_002_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002_collision.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97188811b8edd95229bab8fd14bf594c41696713
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002_collision.obj
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+
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..30add073a4e94f3e38d2920d94146c081290aad1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb81c2b268eb3a3ef1cfed8051a83f9d24e5bd3389f1c7f32c401be96d1718db
+size 8149963
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ec00ee88ae17a802599023d93552aae57706831
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..30add073a4e94f3e38d2920d94146c081290aad1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb81c2b268eb3a3ef1cfed8051a83f9d24e5bd3389f1c7f32c401be96d1718db
+size 8149963
diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/lotion_002.xml b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/lotion_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cbc6777297a3860d72a7acf5ad9053aab2b57b04
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/lotion_002.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_002">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_002_geometry_Looks_material_0" type="2d" file="mesh/lotion_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_002">
+      <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/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e5c734804102afa5f7310b1a4052c571dcd3c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002.obj
@@ -0,0 +1,106884 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_002_geometry_Looks_material_0
+v -0.001667 0.029352 -0.021279
+v -0.001667 0.029352 -0.021279
+v -0.002024 0.029318 -0.020965
+v -0.002024 0.029318 -0.020965
+v -0.001563 0.029303 -0.019848
+v -0.001563 0.029303 -0.019848
+v -0.000632 0.026213 -0.039282
+v -0.000366 0.025798 -0.040215
+v -0.000931 0.025805 -0.040226
+v -0.001001 0.025375 -0.041176
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diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1acd05d026c2a25ce7c48798db4b250d6715ff48
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision.obj
@@ -0,0 +1,10520 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_0.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8dceeeb60b10d542358d307d867b3b683e8a96
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_1.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33395290ca1e7bc52b667937b071b01d54e6b9b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_2.obj b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6164e0c65e10bebc1eb9feb93045d8b737e324a2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mjcf/mesh/lotion_002_collision_2.obj
@@ -0,0 +1,6382 @@
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