diff --git a/.gitattributes b/.gitattributes
index 6fc277c85ce3f0378123542003bd7c4e595c39a2..67a416fa10be8c80c2896ffe60983c5665823c0c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2283,5 +2283,7 @@ dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/lotion_
 dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/mesh/lotion_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/mesh/lotion_024.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/mjcf/mesh/lotion_024.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/mesh/soap_dish_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/soap_dish_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.urdf b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0682549105fc4a9c4e462f08cef4ff5f04b0979c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_032">
+   <link name="hand_sanitizer_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_032.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_032_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>18951f93428a50ab972879dee99dc4da</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>light blue pump sanitizer bottle with white dispenser</description>
+         <min_height>0.1518</min_height>
+         <max_height>0.1518</max_height>
+         <real_height>0.1518</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144246</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033016 -0.032476 -0.058105</min>
+            <max>0.033025 0.032524 0.093662</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/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.usd b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3d632176f6587f4a3503ced7bbfaece32a07aa7a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/hand_sanitizer_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d4fa667f8f33e43f6dc5a17eca2f36b0c50f86bd52f40595581341113cc69d
+size 41040941
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.glb b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e22a4f4d68bb6ca3b8e36ffbd3be869613c91675
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3184bde2b0410a9454ae847fbe700372a47425852cb0b25f92569331809e5918
+size 23486612
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.mtl b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..574f668d87814e68880ef0576fa189741ec7ebd9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.mtl
@@ -0,0 +1,6 @@
+newmtl hand_sanitizer_032_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/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117f4d0e3efba98bcf1921ee342ca477fb4dad95
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe5718dd066b242d11bd9d711731d042d8e4dd150692232dab4c1abb2938c70
+size 38004241
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032_collision.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032_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/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfca695b00290c26e0686bfa5c8afc51081ec8c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/hand_sanitizer_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd20d4f4de567cdfad9cbec1f7565b449fc111a57e0f273ccff97cdee2f9f21
+size 3143989
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..480db61086e4fe1e46a1e3daec94272a12fff24e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfca695b00290c26e0686bfa5c8afc51081ec8c9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd20d4f4de567cdfad9cbec1f7565b449fc111a57e0f273ccff97cdee2f9f21
+size 3143989
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/hand_sanitizer_032.xml b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/hand_sanitizer_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..29ad1228883fe63eb63b8b66b8ce89a000553a2f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/hand_sanitizer_032.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_032">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_032_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_032">
+      <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/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d897d1997c5d663da509673a3ebc6b71ea4cad4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1c9f7f16dd7a8f6c05d57351c717b77ef4ec52b2a352c544a92d7c4f72ecf6
+size 36329790
diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909ff605c995e17d22e3939304fc6351d6cbea00
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision.obj
@@ -0,0 +1,12873 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_032_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_0.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5859573dfb4bca9bc4842922a753b1d26de414
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_0.obj
@@ -0,0 +1,10885 @@
+# https://github.com/mikedh/trimesh
+v 0.03318862 0.00123978 0.01629808
+v 0.03318212 -0.00119648 0.01629808
+v 0.03318212 -0.00119647 0.01379196
+v 0.03318212 0.00123979 0.01379196
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diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_1.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c095e93a75a84da2804dfe434a00952b1b96696a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_2.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc446a29ecbe708961ecef2a5b4d9d0e22c6f94
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_2.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_3.obj b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f785b4c016db245b91da1999359343cba216e81
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/mjcf/mesh/hand_sanitizer_032_collision_3.obj
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