diff --git a/.gitattributes b/.gitattributes
index bbb69bc56137f890efcbf6f79ae2d7060634554d..919763a7375aed19e76ce63355d5339b5c7b4c0d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2269,3 +2269,7 @@ dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sa
 dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/mesh/hand_sanitizer_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/mesh/shampoo_bottle_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/shampoo_bottle_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.urdf b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e8c33d61a3c5d531f170c21c8a98308ac35ce98
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_031">
+   <link name="hand_sanitizer_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_031.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_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3150" />
+         <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>16507d68fb275b19aac973a5caa4ae62</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer bottle</name>
+         <color>blue,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent blue pump bottle with white dispenser cap</description>
+         <min_height>0.1531</min_height>
+         <max_height>0.1531</max_height>
+         <real_height>0.1531</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144205</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033010 -0.032457 -0.055103</min>
+            <max>0.032956 0.032543 0.097976</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_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/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.usd b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/hand_sanitizer_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee89a9594fa7a859fdb1c09b5714bf8bf63c9c393411f53e4d0f22acdf82ba1d
+size 40990518
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.glb b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..461ffdba7824b5b7caa935800f304e292eb90b94
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ab841c91b7ce15b0ccc99c62c07e9d271bc54de37e13baa3a84a44874858d8
+size 23510668
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.mtl b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0bdd61bdf834950542b56fad6d95243521b5e0f
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+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.mtl
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+newmtl hand_sanitizer_031_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/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ef44cce8d012ad4e26c75875e96cdf5f201a22
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031.obj
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8441042abd03d2d0b6de34a7b226c5e6d9e21a514b4cb296116c187dcf7f65
+size 38134636
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031_collision.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031_collision.obj
new file mode 100644
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4db24a3d9607a7e2a14f218d55ba8a6de1781dd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/hand_sanitizer_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587d5a4533e9de88500be50c36a58b5d2f9a5a08047b56902553a99e54e5d278
+size 3299287
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb7d666ea72923ab26b9488e0ce1b4b471aab0b4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_031_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_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4db24a3d9607a7e2a14f218d55ba8a6de1781dd8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587d5a4533e9de88500be50c36a58b5d2f9a5a08047b56902553a99e54e5d278
+size 3299287
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/hand_sanitizer_031.xml b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/hand_sanitizer_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7da1921ce9e0d68eeee5df4552615b807c6d8883
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/hand_sanitizer_031.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_031">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_031_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hand_sanitizer_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_031">
+      <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/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f957ebef5b650d29b2eec8d7bc66671bfa39b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf4653533d436fc9869ebb5323855f2065f6a08c7eab50965d81f1646c9dc8ee
+size 36459749
diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..906ca3a76c6a6f0c7ba06c7f60b4abfcf568665e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision.obj
@@ -0,0 +1,10567 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_031_collision.obj
+v 0.00120515 0.01503197 0.09078110
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diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_0.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d51562105069472957e8053d4b01b73c3e55e1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_1.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df84a6aeb6e7b6b9d543fe2d8c89c039103ebe44
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_2.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6ff0da53193a19f58fcee9fc8b0cbc570e884b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_3.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2017d423974b01e8182777eab2c600964791f3fc
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_3.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_4.obj b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1ae7ab12ec83dc6db04af047540336e70a7739
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/mjcf/mesh/hand_sanitizer_031_collision_4.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
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