diff --git a/.gitattributes b/.gitattributes
index 7a08904103f1e133a4eb335531038f3491529898..632b2bf7dd4843e60c7a2386632fd87b20b5bca0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2443,3 +2443,5 @@ dataset/bathroom_supplies/bath_products/ea4c0cd22e785d1d8a2fc3cd6831d0a2/mesh/fa
 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
+dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.urdf b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4157bbd8e698d35bf83390a939460f4b374aba88
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_010">
+   <link name="lotion_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>f24827b34a7552ed89ceee696011f75d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>lavender lotion bottle</name>
+         <color>purple,transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>transparent bottle with purple pump and lavender design</description>
+         <min_height>0.1711</min_height>
+         <max_height>0.1711</max_height>
+         <real_height>0.1711</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224809</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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>NO: {"summary":"Decorative flowers are segmented as a part; functional top assembly split inconsistently.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.usd b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a0b22e4e68001185eb9c792e551b4ceafdf75009
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708dca2b7652eac4f97b1e69d904b12c78c3409b078ef6244efcee009c66c7e1
+size 4914118
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e11272c970f3a7ba2f16db967e6d218f47c03d91
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c374882b95998059efcb674af95aab739714ee1ee1d0c98767570380134966
+size 14532084
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.mtl b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..393bd711915ad1f12538535ab01275f4c80b335a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.mtl
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+newmtl lotion_010_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/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..299a571ee50b11622f2f73730c8f935280b04a25
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.obj
@@ -0,0 +1,112486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010_collision.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44db090826e47ac331ae9b2a952cb69d6707d322
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010_collision.obj
@@ -0,0 +1,7979 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4386c19d1d93d1e01884f23bf36f17e41b90112
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e8b1518004e0dd3a081f3a13d8a3b0c4bcf225f486c529db93c3299668e387d
+size 11179033
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96aee6f3953c11083c0955d029ccb04df0d042eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4386c19d1d93d1e01884f23bf36f17e41b90112
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e8b1518004e0dd3a081f3a13d8a3b0c4bcf225f486c529db93c3299668e387d
+size 11179033
diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/lotion_010.xml b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/lotion_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..696a5e6dc205d8cb9367633db98471065cf9afc7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/lotion_010.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_010">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_010_geometry_Looks_material_0" type="2d" file="mesh/lotion_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/lotion_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/lotion_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/lotion_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/lotion_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/lotion_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_010">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" 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/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d400b68628571335a2e3928a7dae7e8a65b113
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010.obj
@@ -0,0 +1,112486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_010_geometry_Looks_material_0
+v -0.007170 0.017959 0.063861
+v -0.007170 0.017959 0.063861
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3723dbd411a148c1a21c8b1cf4ee903ef91299bb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision.obj
@@ -0,0 +1,7979 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_0.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e74da7399842b68636a8425a7289f8b794c5a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_1.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db30ec2f690c8964e0cbcffa11dfee090b481ac
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_2.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f78ee37411f84db6760460e844059553673a1b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_2.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_3.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a907f2dd08aafa9b351575de987db1340aceefd5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_4.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b4e2bc9e08f601a872f75ef62e21ad6b14f0ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_5.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401e6e7a30b1a56abed2754daf29e05ed6533921
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_5.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_6.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cad408a94524eee5f591c2c939ff2061f8e196b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_6.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_7.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2a9f6e483feadee375e35a385dd46621a8838b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_7.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_8.obj b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df3ccf8f013cf3d19e529fd9df8a2dfeea8e2215
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mjcf/mesh/lotion_010_collision_8.obj
@@ -0,0 +1,418 @@
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