diff --git a/.gitattributes b/.gitattributes
index 6b80d510a95876cecb4be8429b0f8abb07a06ee9..06d51d287ae516ce80d920c02dfecd3f7bd9bd60 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2265,3 +2265,5 @@ dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/mesh/so
 dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/mesh/soap_dish_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/soap_dish_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.urdf b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0133c0fdb643df41efefacea855e75876c541a82
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_015">
+   <link name="hand_sanitizer_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>10a4373b96cc5017b1215e1c4da952d9</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>green sanitizer bottle</name>
+         <color>green,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>green pump hand sanitizer bottle with shield label</description>
+         <min_height>0.1133</min_height>
+         <max_height>0.1133</max_height>
+         <real_height>0.1133</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015718 -0.030366 -0.042562</min>
+            <max>0.015645 0.030363 0.070697</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.usd b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1e9078b1c4b1f7d75c7db9b2f918721bdf44d74b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144c9ca2dc38181794110d6912556e1d1fc419302ecba869b0b3d53afe50d906
+size 4878770
diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.glb b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b5d66de8461192b1bc151e3f1d2ac4c9dcc3fda1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b40aeacc67969e68a7612820ae820cf7212ff947f82268c4bce7ee208a090e66
+size 14638476
diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.mtl b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..13b6139bae1bc600a787fb63f5638112ddd43342
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.mtl
@@ -0,0 +1,6 @@
+newmtl hand_sanitizer_015_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/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497cabb893711a9b095d8605571b53ec669b0548
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.obj
@@ -0,0 +1,109578 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015_collision.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f30ab65484e680a452929f5e8813b2dfb3eca6e0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f09f37618f9ce6c3b99e8018e40a2808a5b6000b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f9bc59cbbf28269b3ffce7b1e79469261b40c169783d75e7429bfeaec078fd
+size 11304077
diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ead1dbbb4f7f26f6d4d37d8e3395ee90916e71e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f09f37618f9ce6c3b99e8018e40a2808a5b6000b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f9bc59cbbf28269b3ffce7b1e79469261b40c169783d75e7429bfeaec078fd
+size 11304077
diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/hand_sanitizer_015.xml b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/hand_sanitizer_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9bce3332fc9c1798ea970d8d600f962e3298a95e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/hand_sanitizer_015.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_015">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_015_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_015">
+      <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/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47bac572c78954dc1e398fd96543de42f8bbf37
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015.obj
@@ -0,0 +1,109578 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_015_geometry_Looks_material_0
+v 0.001257 0.030207 -0.000610
+v 0.001257 0.030207 -0.000610
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diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2945a8718da3bad4ffbddd4de30035f2fb419f9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision.obj
@@ -0,0 +1,10676 @@
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diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_0.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39efa15105d20b1dd63dfb6621e2e2daf91ecaf3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_0.obj
@@ -0,0 +1,9172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_1.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09711671758b665ac0e01b9ca6691fd013741bfe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_2.obj b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..995e3a10afef38e684e361e7434aabe763196b7f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mjcf/mesh/hand_sanitizer_015_collision_2.obj
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