diff --git a/.gitattributes b/.gitattributes
index f571d89723534e9515ad4f05b1b9fe3bd6d2700b..2716ea4facac1c0b2c6b8a7b58c09c97d7575a83 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2429,7 +2429,5 @@ dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sp
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.urdf b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba46f5a0fea02b0abdf36af60ebaae990320d2fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_012">
+   <link name="lotion_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>ea6ddc4d4dbd5fd2841d2fcaad650c95</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>pump lotion bottle</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical lotion bottle with pump dispenser and printed front label</description>
+         <min_height>0.2305</min_height>
+         <max_height>0.2305</max_height>
+         <real_height>0.2305</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144339</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035346 -0.036011 -0.094129</min>
+            <max>0.036411 0.035283 0.136406</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.usd b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2e7ea9389624115a015559e05ef3e261d4d161b0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b279524d4b12c1a02fdee08f05698b78d3ebfa8d266e58136255581e218055f1
+size 4783937
diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.glb b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..717bb022f24a421878dbca43c5f9cf8c0e4e70e3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d486e0a219dc497bc7fb3de438f64475793d8ef2e9eb2ff58dec84ac81e5014e
+size 11505988
diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.mtl b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ae54c8d871a8c6b54400b3f85257244b3bbe6ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.mtl
@@ -0,0 +1,6 @@
+newmtl lotion_012_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/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b428a621e679fd09429121950870db6b008d332
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.obj
@@ -0,0 +1,108352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_012_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012_collision.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c8d2abeffd95d7f0010293e12dfa84d2ca67d4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012_collision.obj
@@ -0,0 +1,4419 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/material.mtl
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/lotion_012.xml b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/lotion_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8fe76264cdc2bfa1bc57df296836575c90b797e2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/lotion_012.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_012">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_012_geometry_Looks_material_0" type="2d" file="mesh/lotion_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lotion_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lotion_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_012">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0e5dda064954be1a7b3ec5482f7ece570e46cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012.obj
@@ -0,0 +1,108352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl lotion_012_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26de32a3ce90c5b2a31f9fc3614cef130b0aa99e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision.obj
@@ -0,0 +1,4419 @@
+# https://github.com/mikedh/trimesh
+
+o lotion_012_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_0.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f726617b05a9c70bf528bda10556e3724b89a1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_0.obj
@@ -0,0 +1,2854 @@
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_1.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6310520c8cb03dc85b523a0105a5fc312a022504
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_2.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d851ffd5b292d6b1a179d5f4cf87752fafadee1a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_2.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_3.obj b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44a713660cadbad0f463f1db6ca6afe943bb1bd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mjcf/mesh/lotion_012_collision_3.obj
@@ -0,0 +1,586 @@
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