diff --git a/.gitattributes b/.gitattributes
index c43796949a40c0bb075c929c3b2e5220d7f86bf0..02396e88e9f8e1d5580513346dbe40a0302efbe4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2445,5 +2445,5 @@ dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/hand_sa
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mesh/hand_sanitizer_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mesh/hand_sanitizer_024.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/mjcf/mesh/hand_sanitizer_024.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/f95d62f587f15dcb87c925c8568ed669/facial_cleanser_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/f95d62f587f15dcb87c925c8568ed669/mesh/facial_cleanser_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.urdf b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fe22e8fd157bde31ae376fc9d9e8b57b146bfb38
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_014">
+   <link name="lotion_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>f86f8491113c5687824645965b00e82c</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue plastic lotion bottle with pump dispenser and textured side grip</description>
+         <min_height>0.2322</min_height>
+         <max_height>0.2322</max_height>
+         <real_height>0.2322</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144415</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024063 -0.042581 -0.094024</min>
+            <max>0.024648 0.043821 0.138186</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.usd b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5be56d0b9ba6c2d80a7f2ce8293a1d0f97a56240
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4944765
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1450ef2231bd9329b49c13363b7aea0c5120866f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d965cc27ca5b9da4b30a69363877e67e65fedc3c5624eaec727e7d22d6dd6f64
+size 14740748
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.mtl b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db7d5213fc8c5b4a32c0d573f2d2911c755ac371
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.mtl
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+newmtl lotion_014_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/f86f8491113c5687824645965b00e82c/mesh/lotion_014.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13544956447363cdac06586601b843055db13477
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014.obj
@@ -0,0 +1,120120 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_014_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014_collision.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ef5ecef29ea74cc150e83a7e588d6b791671b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3768d38c1213656f9fc390ad4aaa44a66cd60f5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/lotion_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d203b42d9f709aef7b02a85298feb5e03f32f5570af8ed6be59dc225f796a6
+size 11311274
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c9467e5056f92a86a0c552ff374624119c422c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3768d38c1213656f9fc390ad4aaa44a66cd60f5f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d203b42d9f709aef7b02a85298feb5e03f32f5570af8ed6be59dc225f796a6
+size 11311274
diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/lotion_014.xml b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/lotion_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..162f2cb94c2fca4fb6babbb69590e2b3ff666b16
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/lotion_014.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_014">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_014_geometry_Looks_material_0" type="2d" file="mesh/lotion_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_014">
+      <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/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c822b9364e9711da2c7805fa73b953103c4c9b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014.obj
@@ -0,0 +1,120120 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_014_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a573e51ecd31c817e4da282f2956f9ebdb643658
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision.obj
@@ -0,0 +1,7115 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_0.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2fdb1cfb361754283baabe7f0138c5d6f157e6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_1.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b4876fa0a370fe215a5a1ecb6b873b3c8c82d2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_1.obj
@@ -0,0 +1,754 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_2.obj b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6925e7a8e9934d07c1dd9774ff3624cb8be9fe3f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/mjcf/mesh/lotion_014_collision_2.obj
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