diff --git a/.gitattributes b/.gitattributes
index 80fac2043d48e1b553cb1dc8efe2ccb124a68050..8423702d0a14f2b59a8c014470ded6ab94b677ee 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2329,5 +2329,5 @@ dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/mesh/sh
 dataset/bathroom_supplies/bath_products/76a6193f126c50839f0420c1b8397c25/shampoo_bottle_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/mesh/shampoo_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/shampoo_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/lotion_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/mesh/lotion_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.urdf b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a5828262655992f0bcb501b78f1ca9f9293c345
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_013">
+   <link name="hand_sanitizer_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_013.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_013_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>7ab3dfea6e335ae38e8dec3baf52f813</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white oval pump hand sanitizer bottle with printed front label</description>
+         <min_height>0.1140</min_height>
+         <max_height>0.1140</max_height>
+         <real_height>0.1140</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143221</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.012711 -0.030775 -0.042941</min>
+            <max>0.013173 0.030845 0.071055</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.usd b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..abaf29c1633e64a61b80daadcc4d18e037f77728
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa74399e633603ec9368ba5e1d65dd9e2ac01cea7be47dbcc1644ee67ab1c3a5
+size 4933727
diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.glb b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1a80ad02b52dc8be1ce476dee52535cb4642fedd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f514d5f6421c5a32c55be19a531f01efa55ccfd6823879efaa2a3e4d519d4318
+size 12955316
diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.mtl b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60ac588819b8efb46f483d0627efc2e21379d7ca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.mtl
@@ -0,0 +1,6 @@
+newmtl hand_sanitizer_013_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/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e207de9969a22e296edbc4757a582d6f6c83714
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013.obj
@@ -0,0 +1,110190 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013_collision.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd399c6851b2bf794d39e15d528ecf9b215de5b8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e9425734dc3cd5f93190e21b4ce04c74c76be2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/hand_sanitizer_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e55ed947de935f3b46bfe210d95d8a861908282589ee6cebb353ee63c22480d
+size 9576379
diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1e83e80e56cefd51fb8d072b61df75d2278bee4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e9425734dc3cd5f93190e21b4ce04c74c76be2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e55ed947de935f3b46bfe210d95d8a861908282589ee6cebb353ee63c22480d
+size 9576379
diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/hand_sanitizer_013.xml b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/hand_sanitizer_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8c4120fa204171a0d2fbd45f678bfb3d262bd714
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/hand_sanitizer_013.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_013">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_013_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_013">
+      <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/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a88d144ca613f75f30658f04c6b3d26eb30c09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013.obj
@@ -0,0 +1,110190 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f1778f84a3b99ec9db01daa03149202669cafd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision.obj
@@ -0,0 +1,9243 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_0.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e89e9d800be151b38006f6c27d3c4935acab29c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_0.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_1.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3966009e8df364f956c00703bef8a4236072c48
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_1.obj
@@ -0,0 +1,976 @@
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_2.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7e62d75dabde709afd5dc53e23f806a7fd7336
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_3.obj b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea158b7da1caed34ca64f8c98b806f7037b26d3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/mjcf/mesh/hand_sanitizer_013_collision_3.obj
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