diff --git a/.gitattributes b/.gitattributes
index 5066164631bd4d0be2ad0b1f80c0743b3c55e569..e87230cc341bd5a5f55583f5090b04cfd34bd049 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5223,5 +5223,5 @@ dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/lotion_
 dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/mesh/lotion_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/mesh/shampoo_bottle_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/shampoo_bottle_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/445675b2692a5bfab9faaaff576ae8f4/hand_sanitizer_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/445675b2692a5bfab9faaaff576ae8f4/mesh/hand_sanitizer_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.urdf b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0564811994f20c467b111654d1d44d5fb2221152
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_028">
+   <link name="lotion_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>45ff8562ab3a5b6f91c30ef3f5cb544e</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>lancome lotion bottle</name>
+         <color>pink,brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered pink lotion bottle with metallic cap and floral embossing</description>
+         <min_height>0.2440</min_height>
+         <max_height>0.2440</max_height>
+         <real_height>0.2440</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145010</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040401 -0.040005 -0.118002</min>
+            <max>0.041327 0.039995 0.125965</max>
+         </aabb>
+         <tags>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/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.usd b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..67ee217fb700e8a9fc4f84fdf4df2b1f4ac24659
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/lotion_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101adf8d71b89e3deec563b46ef90eaa2a86fc41e8750978a5120ec81a39bcaa
+size 4747791
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.glb b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4dc1a32826f8462061910bd7ed2411e02bd7498f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c43975e994d4b2219ea62527f759af1379e001a35f6333b2a59a4ad6cef97d75
+size 11908280
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.mtl b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4028eed493f1fdce56b73c7b48c50f5f8c2d5d6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_028_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/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.obj b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9321c2b54db65f594ec8659b31c50d434475fc72
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028.obj
@@ -0,0 +1,110330 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_028_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028_collision.obj b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf8e6caf963d6733d708f25075330dc953f2e9f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea39f2808ee7e557ea71401aa8961f806f590f79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/lotion_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85d2d9ca9dd654cc1cb952a61fee8b1496e7a1163adeebab24533c0e1ef7f92
+size 8814952
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..749efc044ccefb191ad704126a62b7ac004093ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea39f2808ee7e557ea71401aa8961f806f590f79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85d2d9ca9dd654cc1cb952a61fee8b1496e7a1163adeebab24533c0e1ef7f92
+size 8814952
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/lotion_028.xml b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/lotion_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ce9f5227f259edfc3d0c8517fdc8e1c0a049fe54
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/lotion_028.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_028">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_028_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_028_geometry_Looks_material_0" type="2d" file="mesh/lotion_028_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028.obj b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5f8d9e7b7d9d60d088038f6baf88f4cf334333
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028.obj
@@ -0,0 +1,110330 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_028_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision.obj b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a4a7cdd9c705495eb60ec8b33e63a17973c99d1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision.obj
@@ -0,0 +1,9229 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision_0.obj b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9e429e039fdad70e861ca0a5e4237fbdb42db2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision_1.obj b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63716ea369785ef16f97df74ef6695b262266533
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/mjcf/mesh/lotion_028_collision_1.obj
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