diff --git a/.gitattributes b/.gitattributes
index 144851354cd3b89181b26d5d118618c27bc07ded..9aaf963a95f984f5e78313276083af1f5d51a1d6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2425,11 +2425,5 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/fa
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 dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.usd filter=lfs diff=lfs merge=lfs -text
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-dataset/bathroom_supplies/bath_products/e427ed576c6b51fd93164a2062d91d84/hand_sanitizer_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e427ed576c6b51fd93164a2062d91d84/mesh/hand_sanitizer_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e5f75f7c4cf953d9ab66c3e835370a25/mesh/sponge_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e5f75f7c4cf953d9ab66c3e835370a25/sponge_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.urdf b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52bce94eacad58303a63be803be8a3846d9ca31a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_014">
+   <link name="hand_sanitizer_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>e39e82f2b06855f6a6153322052384f3</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue pump hand sanitizer bottle with rounded body</description>
+         <min_height>0.1120</min_height>
+         <max_height>0.1120</max_height>
+         <real_height>0.1120</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143243</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016424 -0.025001 -0.039076</min>
+            <max>0.018203 0.025047 0.072955</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.usd b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/hand_sanitizer_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b699740452d8b95a5819a9e7c199c42c3df1e4d664ecf5d33785b3735a83b232
+size 4918383
diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.glb b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.glb
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a92a4963616464b78b479d2821a3d8f0054cd31d829460ffcaea19c8b6afee
+size 12795824
diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.mtl b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aaa4a82b12c8e35926a05227e227089de7b472ea
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.mtl
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+newmtl hand_sanitizer_014_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/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4347888c60fbf3945a870b23563d644bd5cbffd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014_collision.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3107171a32dec7c4f6fe343bfcdacb847ccb3af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/hand_sanitizer_014_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+size 9439345
diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00b22d3456af954b8e64883db5fdb79502477e16
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb3b1b01cf08c9c5e24856be53ab017242660ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b68495e9aef2e2d8abef3e13eb6080f51fc5828d085986b30bca4da6f4ec2a85
+size 9439345
diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/hand_sanitizer_014.xml b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/hand_sanitizer_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..70657aa16c4ded370574111e363dedda9b0d5f2c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/hand_sanitizer_014.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_014">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_014_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hand_sanitizer_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/hand_sanitizer_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/hand_sanitizer_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_014">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b0c677442d571124ef8a8f65ec54c730410b69e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014.obj
@@ -0,0 +1,108046 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_014_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a49299eb74d08a6410a2daa47bb96bc944226b92
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision.obj
@@ -0,0 +1,9624 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_0.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377e0da720be4afa4043fef49d4c55cba171c195
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_0.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_1.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481e433dd1918fd9964e4903296c69f901108605
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_1.obj
@@ -0,0 +1,6157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_2.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5efe825c1bad4327aedc732eb714755e860787
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_2.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_3.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc198840664d25af86f29e96e4912e0b6deb68ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_4.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7d948dfcd669eb5b0eb4e2c72402dbf40c5cdd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_4.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_5.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6677f64a000691c4c4a413bd7dd8803dc9a5d51
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_5.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_6.obj b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a793a9a9627b34edd9d9d625322d8d3b95802503
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e39e82f2b06855f6a6153322052384f3/mjcf/mesh/hand_sanitizer_014_collision_6.obj
@@ -0,0 +1,160 @@
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