diff --git a/.gitattributes b/.gitattributes
index 4ffacb54af331091f2acc55086f1cf03379b8d2a..a6b03625337e32b325654ca1dbddbff51e9a6fa6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2433,3 +2433,7 @@ dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/lotion_
 dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/mesh/lotion_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/mesh/sponge_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/sponge_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.urdf b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5469a149ad5165386abda72e4f4d0f90964e49af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_030">
+   <link name="hand_sanitizer_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_030.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_030_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>e660188955435ec49d98db557f6a27af</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>green,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pale green cylindrical pump bottle with beige front label</description>
+         <min_height>0.1976</min_height>
+         <max_height>0.1976</max_height>
+         <real_height>0.1976</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144125</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033177 -0.032434 -0.077118</min>
+            <max>0.034378 0.032566 0.120451</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.usd b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..55dc1167cc977d09525e0c2ca1410f062e0156eb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/hand_sanitizer_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4de119afd99342da431a49f1c24d173315f760963c692c28075aac846d86b57
+size 40828228
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.glb b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..eebb500515fb55200c8f6bdf36e036b218675dd4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4e2a31eabdbfc447c124997069adb4da597ec441a9aa08f85aa421ffdb9583
+size 23595004
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.mtl b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e40ddff3d80374af5124b8966512f2ecf554aa3
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.mtl
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+newmtl hand_sanitizer_030_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/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b488602e60424b45a093d41bf7983a392020549f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3edea93bc2625f10cca3da19dd84fb283395cfc2b251e6ac0edc9dcf9bbc89
+size 38887904
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030_collision.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b03785ba5cb15d72b2722fe3417e99d10f52b33f
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11b3e7fd25670f740121c50d84b700b90e9085af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/hand_sanitizer_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00fa9b87c5648a339ad3e304d8082a49f08a12686c8e8d37c5f51ac99674520d
+size 3592246
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c338535b8ee953583c5e23e526b2d4ade288f828
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11b3e7fd25670f740121c50d84b700b90e9085af
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00fa9b87c5648a339ad3e304d8082a49f08a12686c8e8d37c5f51ac99674520d
+size 3592246
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/hand_sanitizer_030.xml b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/hand_sanitizer_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8f79c3afb07aa9955324a61d8495cfd357ae5bb9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/hand_sanitizer_030.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_030">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_030_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_030_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_030">
+      <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/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0867845646fe10fe767fdce16a2b8683e69a45c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d1b4eaedb14b5a495b23af3987424ddac2c1b35647b52d37bc49ce6825eab2
+size 37144330
diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718cb447e0c7c498d5b9a6a7136d069237caf7d8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision.obj
@@ -0,0 +1,6840 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_030_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_0.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd4db7fe313a2067477759cd8f2002adc8ba35c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_1.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de739b2d7bcdcf2e99463c23b98b7b3c09fd073b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_2.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f7221bb51619b4e13c805d2174e3b1a5504749b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_2.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_3.obj b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7dea980e3a7be24e2039c9ab00b440896eb3ef0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/mjcf/mesh/hand_sanitizer_030_collision_3.obj
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