diff --git a/.gitattributes b/.gitattributes
index 4bfcfc89ada7eec414810be4806203a5801e8224..7a08904103f1e133a4eb335531038f3491529898 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2441,3 +2441,5 @@ dataset/bathroom_supplies/bath_products/ea4c0cd22e785d1d8a2fc3cd6831d0a2/facial_
 dataset/bathroom_supplies/bath_products/ea4c0cd22e785d1d8a2fc3cd6831d0a2/mesh/facial_cleanser_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ea4c0cd22e785d1d8a2fc3cd6831d0a2/mesh/facial_cleanser_028.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ea4c0cd22e785d1d8a2fc3cd6831d0a2/mjcf/mesh/facial_cleanser_028.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_022.urdf b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ebe0668c98d4c7bca81c12a92783ef16deebbc2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_022">
+   <link name="lotion_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_022.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_022_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>efd5fb22181f5b068ebf9e5680de0826</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>lotion bottle</name>
+         <color>pink,beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered cosmetic lotion bottle with rounded cap and printed front text</description>
+         <min_height>0.2462</min_height>
+         <max_height>0.2462</max_height>
+         <real_height>0.2462</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144702</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021235 -0.039989 -0.117968</min>
+            <max>0.021186 0.040011 0.128262</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_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/efd5fb22181f5b068ebf9e5680de0826/lotion_022.usd b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..56b74d319883ecafbb097e5b6b9c1bfa54947083
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/lotion_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc930b8653f0bcdd24a74f104f4fc2c627434f5bfee7768dbce9ccfd7118db74
+size 4727081
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.glb b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a71e4f632b216613b7b1e4812506437070130901
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6012f6db3d80b8b94b1e41e2a7be516910cae2c0c8b6ba7e069126a1d2672b1e
+size 9501488
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.mtl b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4df23aaaff0e2be8aa09bdea11bf8f68aa5f8ce4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_022_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/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.obj b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245253cd02c7c491333bef6f3e9145090a289360
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022.obj
@@ -0,0 +1,103994 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022_collision.obj b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6f2d665b998bd214e30fe29a3c5641835ac585
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022_collision.obj
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+f 2025 2028 2027
+f 2025 2027 2026
+
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad9b68eed49b4dcb012ac7f606f02eb519c92d85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/lotion_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b6025b0290906f7b5d694cf26a45a708613af8a3d1db2cd9de8bbc4e510184
+size 6457250
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30fd6da876073919cfb26f31001d5a921fba3ef6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad9b68eed49b4dcb012ac7f606f02eb519c92d85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b6025b0290906f7b5d694cf26a45a708613af8a3d1db2cd9de8bbc4e510184
+size 6457250
diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/lotion_022.xml b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/lotion_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa64e8490d0ab53a5b870bdaae333be70fc70402
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/lotion_022.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_022">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_022_geometry_Looks_material_0" type="2d" file="mesh/lotion_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_022">
+      <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/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022.obj b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a787ee24af6e60e1ccc6131ccf9b84bd4ce34c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022.obj
@@ -0,0 +1,103994 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_022_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision.obj b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0eb655d85a4bb290d37d0642a4ed30cfe77c76f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision.obj
@@ -0,0 +1,6094 @@
+# https://github.com/mikedh/trimesh
+
+o lotion_022_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision_0.obj b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492b1591740a09f6238bab663f8d0ed8e2405be9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision_1.obj b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637bfb2f8cad098a2eec3aa06d8e8d09ee1e6e4e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/mjcf/mesh/lotion_022_collision_1.obj
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