diff --git a/.gitattributes b/.gitattributes
index 5c61cca318783e5877fe85873822b1703754cd69..fe2677ee47d01111e9b40967ef33a34fcc90c570 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2299,5 +2299,7 @@ dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/mesh/sh
 dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/shampoo_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/mesh/shampoo_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/shampoo_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/mesh/shampoo_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/shampoo_bottle_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.urdf b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d45e87a233accba2194c9a0053393c5e08e6d4f7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_012">
+   <link name="hand_sanitizer_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_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/hand_sanitizer_012_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>0f1aedac527b55c58a16866fac23388f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump bottle</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular pump bottle with visible branding</description>
+         <min_height>0.1112</min_height>
+         <max_height>0.1112</max_height>
+         <real_height>0.1112</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224405</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>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_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/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.usd b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/hand_sanitizer_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 122640964
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.glb b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e9e81393f4dd57323905d32b46f2a11986cfdd6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 66472632
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.mtl b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b32c514e0f096f6999bfc0b918edc3f09aa03c13
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.mtl
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+newmtl hand_sanitizer_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/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ae90f859ecfb3905b0cc0329242eaa6f0f8925
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2858f4918652c7e39b08d78703fa40c71c85242c616e3c7383a31243999fc0a
+size 116718537
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012_collision.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdcd017c16a45110d221a2fa1c748b4cbe49334
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1aa2b67c891a3de2d2ee63c84da92d61dabdb8a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/hand_sanitizer_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3c01bf44661aeadece22c70a00c2e4fe1d9c377ea2654d6ad72d12e24a7435
+size 6267644
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db1c1e48cda3ee7daa37bfa0f01640e82479b78d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1aa2b67c891a3de2d2ee63c84da92d61dabdb8a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3c01bf44661aeadece22c70a00c2e4fe1d9c377ea2654d6ad72d12e24a7435
+size 6267644
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/hand_sanitizer_012.xml b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/hand_sanitizer_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..088bba4a189547afcf0fc79b45dbaf7c2ff7f5d7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/hand_sanitizer_012.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_012">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_012_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_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/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f822fb85fd599e200b040bd0a4859466b488ae
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53eeb58c059838a2ab291881ba366e09ddba69fd11139af21a439158df7b7f7d
+size 111657723
diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bde8ae32c354aa18c83cd3e79373b5814a872fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision.obj
@@ -0,0 +1,4857 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_012_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_0.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5da17e10316861f68de38c52adccdcd34f65ed7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_1.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bfada8912f55e9d423c127328b55136361a4009
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_1.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
+v -0.01210261 0.00042520 0.02623093
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diff --git a/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_2.obj b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda4c8fc3b86d026898f389085c197dd4a3c506c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0f1aedac527b55c58a16866fac23388f/mjcf/mesh/hand_sanitizer_012_collision_2.obj
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