diff --git a/.gitattributes b/.gitattributes
index bb4eb4dbcfe3c69ecd9add91aff63c5ed4c183c3..7d757f7f29645533333c031b3cc31f9758432bfc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5251,3 +5251,5 @@ dataset/bathroom_supplies/bath_products/5ab4f17d4a5b50b7956a04fe402a9db6/hand_sa
 dataset/bathroom_supplies/bath_products/5ab4f17d4a5b50b7956a04fe402a9db6/mesh/hand_sanitizer_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/5c616635e2b75bb8806e333fcb4941b1/mesh/soap_dish_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/5c616635e2b75bb8806e333fcb4941b1/soap_dish_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.urdf b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..447eeba7ee76c6eb095f407484993a6a3542ca5c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_021">
+   <link name="lotion_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>5cab804b0c1b5d1888d7628af39bfde8</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>purple lotion bottle</name>
+         <color>purple,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark purple lotion bottle with gray flip-top cap and floral print</description>
+         <min_height>0.1562</min_height>
+         <max_height>0.1562</max_height>
+         <real_height>0.1562</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144643</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025197 -0.040084 -0.068693</min>
+            <max>0.025841 0.039916 0.087539</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/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.usd b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e2564e731a175f22dee2ef13ca8b4f678c4d1344
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1918ca40babb45a99ef9a0691a9830f63cdbf541fa83e9f89e99f1ef4517d99c
+size 4812351
diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.glb b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bb02fef42b804d9256dba48fe46845bdfb896a24
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e91be25b9628d4121af5fec3239241c0694578cbf009ab77f29d15f4321af9fb
+size 13946372
diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.mtl b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a212b63a2096e00f829781a6b4948f06c11fe70f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_021_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/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.obj b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7085920ee0a29a0787ea1537374279f467b871
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.obj
@@ -0,0 +1,107810 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021_collision.obj b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693e27ba5a67f7f500a29ffe5829771ce59d9b0a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f19cdebe8da123333c061c61949e2dd0178e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2412b186e05c4c8b850d117e957dbade58f0f45f776a575f37e08882f89b9b6d
+size 10762076
diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b137093bf428a012cad4adc83fc59a2ceb23b6f1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f19cdebe8da123333c061c61949e2dd0178e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2412b186e05c4c8b850d117e957dbade58f0f45f776a575f37e08882f89b9b6d
+size 10762076
diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/lotion_021.xml b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/lotion_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..babe4881a15acc44e7b272e86bf95fe4f79d725f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/lotion_021.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_021">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_021_geometry_Looks_material_0" type="2d" file="mesh/lotion_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_021">
+      <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/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021.obj b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613f894df76d158b3c6583efd3ed53d64e1ab689
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021.obj
@@ -0,0 +1,107810 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision.obj b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f26b6a5ceb8b83fd6cc347761a108a33563cb3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision.obj
@@ -0,0 +1,5860 @@
+# https://github.com/mikedh/trimesh
+
+o lotion_021_collision.obj
+v -0.00093438 -0.04028129 -0.03826821
+v 0.00155095 -0.04014750 -0.03826821
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+v -0.00093438 -0.04027343 -0.03569274
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diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision_0.obj b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21afcec196b5e808dee54b4aaf0aa9a51b97ac4c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision_1.obj b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c5405283b5a3bb80709d268dc8e7df7447ad946
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mjcf/mesh/lotion_021_collision_1.obj
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