diff --git a/.gitattributes b/.gitattributes
index e544f1a096a7dc46b0ea4e787cf85622dc6add64..2829b2022bb0c9b1e79e65886bb72ed8889c398f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2387,3 +2387,5 @@ dataset/bathroom_supplies/bath_products/b226cee5521d578ebdff0812f2bc7ba1/lotion_
 dataset/bathroom_supplies/bath_products/b226cee5521d578ebdff0812f2bc7ba1/mesh/lotion_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/mesh/shampoo_bottle_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/shampoo_bottle_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.urdf b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9fe6b492379853e9223a0afaff1045d6ec199520
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_016">
+   <link name="hand_sanitizer_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_016.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/hand_sanitizer_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>b7a049f6527950a48696ed515958e5cb</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>beige</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>beige pump sanitizer bottle with floral embossed decoration</description>
+         <min_height>0.1155</min_height>
+         <max_height>0.1155</max_height>
+         <real_height>0.1155</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143334</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015023 -0.024916 -0.046811</min>
+            <max>0.015303 0.024616 0.068680</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/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.usd b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2c783a1daae5664e95663508ed76f691a1a43225
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e2a46aaf7b517ccb1113c1ee0f112f2b87efd9279af54316e9fd414f1486e0
+size 4980795
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.glb b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6ea967aaa631a112a6a0589c046246c89df50e50
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b565b16aeb207466269e9a6f6d027568bf9d5df63846ba590c3a97f330f704b2
+size 14549508
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.mtl b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da8e1d29d6e6631d827e89c9907b1020e83f6e93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.mtl
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+newmtl hand_sanitizer_016_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/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7bf21bd81d0ddefb4d875cac51343919ab964f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016_collision.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..747056f29548174595d3d07870847b8ef29fa5c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016_collision.obj
@@ -0,0 +1,7540 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..906373e09de1d6d48275b7262f6e62e2e41c8645
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/hand_sanitizer_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49368844316e0a2f4b8dc6a59c8c0757f376f33f3b61abd0b953b4606f93961
+size 11090329
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4561aec56fb88f35bf1a3bb3407aa64df0af6ff
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_016_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 hand_sanitizer_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..906373e09de1d6d48275b7262f6e62e2e41c8645
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49368844316e0a2f4b8dc6a59c8c0757f376f33f3b61abd0b953b4606f93961
+size 11090329
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/hand_sanitizer_016.xml b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/hand_sanitizer_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4aa0525cb5e526f4117d3df85eca63c8b76eafec
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/hand_sanitizer_016.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_016">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_016_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hand_sanitizer_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8269c0f4aa11725062ad88369a83ef483c65516
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016.obj
@@ -0,0 +1,113686 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1491784135b5db013e1e55d637a71c62cd44ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision.obj
@@ -0,0 +1,7540 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_016_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_0.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ad208b203f26910d15c149354a8e560c9f6764
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_1.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13db2df9dfd13dfcd467355eee777dd4f030f5c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_2.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3e7da588aec0b59ddc98a6f8784223e7121b59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_3.obj b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee433505e2c55a1138ac679db66707fe5d072c6c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/mjcf/mesh/hand_sanitizer_016_collision_3.obj
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