diff --git a/.gitattributes b/.gitattributes
index 30698c54c3929525116c43826d117859fbc0bbce..c98cac6fce5cdefbfcff22e897e601b3e7f1ea02 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2425,5 +2425,5 @@ dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/facial_
 dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/mesh/facial_cleanser_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/mesh/facial_cleanser_020.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/mjcf/mesh/facial_cleanser_020.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/mesh/shampoo_bottle_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/shampoo_bottle_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.urdf b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..79e712947a8b2ad6310f692f07bae27c97d42594
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_011">
+   <link name="lotion_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>cd0d5f99b2205fffa98d2b3d9f455d5f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white oval pump lotion bottle with floral side embossing</description>
+         <min_height>0.2330</min_height>
+         <max_height>0.2330</max_height>
+         <real_height>0.2330</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144321</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030666 -0.061942 -0.093804</min>
+            <max>0.029526 0.062298 0.139164</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.usd b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc5f24063319476564926efc48a6b49149f45fa9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb2c999d0a056e3bff440400eb80a090721fb639cf246bb3319055b7d7912ca
+size 5019833
diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.glb b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..13844c1cdbc5cebde6ba7c0241d1c51ac60f34db
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fe3224d5a816f02415c2f7ecbb86bba9d52b3936e850503be83e836318a2094
+size 13918528
diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.mtl b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..88299749d9d7ad5da6a7dca631ef763842244718
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_011_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/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0c61af89827ec341d9cb5232a007e88c6d796a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011.obj
@@ -0,0 +1,121658 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_011_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011_collision.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f40828bde69df6e691ca10215ef9b1bc575d40
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011_collision.obj
@@ -0,0 +1,6677 @@
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diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d83786eb9cb1db780b19a7a2113c60da9c4c7b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/lotion_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d333dd27d41bb738576f73e0047706d108fda0573d74c04ff9fa26e157c34b3
+size 10404305
diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0459fcc882cfcb50084ea31bc68618cca8174a3e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d83786eb9cb1db780b19a7a2113c60da9c4c7b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d333dd27d41bb738576f73e0047706d108fda0573d74c04ff9fa26e157c34b3
+size 10404305
diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/lotion_011.xml b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/lotion_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b425709c960521eda907c1a0f61fb0247c87cd22
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/lotion_011.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_011">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_011_geometry_Looks_material_0" type="2d" file="mesh/lotion_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_011">
+      <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/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f7f3c97b858197dc19db7f37f3f98ed969880d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011.obj
@@ -0,0 +1,121658 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_011_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c71e530c87378dcdb4358898146c9c287519c29
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision.obj
@@ -0,0 +1,6677 @@
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diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_0.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef23a04a7811e1b395f33e2b94c0dd2572409e2d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_1.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8171ff1139c66bc076bea19be589f13a5912e32
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_2.obj b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201e186d3ba5314962746b9ea208c14ddb9d99ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/mjcf/mesh/lotion_011_collision_2.obj
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