diff --git a/.gitattributes b/.gitattributes
index 1b7e9a4028170ccd3bfa5aab38c2622f6d92a14a..6e99043ecdf0c5004cfe333bc1158b11d603643c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2401,3 +2401,7 @@ dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/facial_
 dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/facial_cleanser_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mesh/facial_cleanser_012.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/mjcf/mesh/facial_cleanser_012.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.urdf b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b3ee3dbae43a55bad05a66fcd961c18ccfade78e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_029">
+   <link name="hand_sanitizer_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_029.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_029_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>b57b5cb242f655fb8e6e8bc93dbbbb6d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer bottle</name>
+         <color>beige,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical pump bottle with white dispenser and botanical label</description>
+         <min_height>0.1641</min_height>
+         <max_height>0.1641</max_height>
+         <real_height>0.1641</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144042</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032642 -0.032430 -0.060164</min>
+            <max>0.032856 0.032570 0.103965</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.usd b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..31fb256f10670393ba28208082e65b9827fb2218
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/hand_sanitizer_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59fab547e6a695f4713c4e95518ac04ab7e619cf4292a767ecc1f75e4e6c051
+size 41367149
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.glb b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75a3db1a40be80c50c5e20fe92f47ddf7aa8651d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 24527464
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.mtl b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.mtl
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+newmtl hand_sanitizer_029_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45924c817cbf582e8b07cae4da885fc6d18730b2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029_collision.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029_collision.obj
new file mode 100644
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+
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..abd8cbbb1e04dc3c2707a58b1e2477ed29368ea8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/hand_sanitizer_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b8f595b8e4f735a7e756e33523c5813c36d6ea467df436924ae7855572a193
+size 3649568
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96692ed09461b38ad1bfaa516687aaf158c2677a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b8f595b8e4f735a7e756e33523c5813c36d6ea467df436924ae7855572a193
+size 3649568
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/hand_sanitizer_029.xml b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/hand_sanitizer_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db852f09a43079d3be1a5a225424a2f0f0e0178a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/hand_sanitizer_029.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_029">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_029_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_029">
+      <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/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e233c9bcbdc3851cceaf7ba199497887b322fd39
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc4796bc250ff4ea45010951d0b337dbc0ff913a8db40f309ea0b5060bb5a72
+size 36785650
diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ffbceb9914972fcf67373ca55d7d392963d7c6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision.obj
@@ -0,0 +1,7851 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_029_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_0.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62de7164efe98eb186ee1b7f1393623f36c7dd85
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_0.obj
@@ -0,0 +1,6214 @@
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_1.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa3e0f52e8243a2c7eb80fb89c221c993f3cfa5
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_2.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f1a9a59a3edcd0eca1273c0e0ae169202dbafa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_3.obj b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed165d8238d381120af902723d97021f8ecffaa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/mjcf/mesh/hand_sanitizer_029_collision_3.obj
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