diff --git a/.gitattributes b/.gitattributes
index 1a05899d9ba963a939ff49bebf6a2f37b98e4b9e..40140b3d9dc62b5ff8d0b6e777aa71ab3b60cb1e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2427,5 +2427,7 @@ dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sa
 dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb filter=lfs diff=lfs merge=lfs -text
 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/dcc7de9faa4f5c18b8c40dee91c0c395/mesh/sponge_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dcc7de9faa4f5c18b8c40dee91c0c395/sponge_021.usd 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
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.urdf b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..346413aaa849c69d162c6a4b0ce2ca887aefac9d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_028">
+   <link name="hand_sanitizer_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_028.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_028_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>dc00203905b35fb8b8ed381e1e8e2271</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>dove sanitizer</name>
+         <color>pink,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>pink pump sanitizer bottle with oval body and gray dispenser</description>
+         <min_height>0.1142</min_height>
+         <max_height>0.1142</max_height>
+         <real_height>0.1142</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144001</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.014755 -0.032405 -0.043053</min>
+            <max>0.015153 0.032595 0.071110</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.usd b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..84505f04aed6b275de2bd1c91aebe647d7eabcf1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/hand_sanitizer_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019c8de4bbc00ec45ef5f279f1168aa6e64d283145440a8ba11fb4da6f801550
+size 44210623
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.glb b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5f746f0073f2186cd91a3c668ab4931abc77200b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24bb037f8ce2d51afd032fc28870b148af216ed25399d6d021abab7bc92dd4c5
+size 29539240
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.mtl b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c2c2d5f8c9e8a6a4cca7bdf7c1e0084d5f11616
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.mtl
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+newmtl hand_sanitizer_028_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/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c3fa9536b9fd41be9f75637d6170712577985c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3195eea1c7b27de8f7b604d6f462e49e3d6a695e9bee202066f1b8b830a3e0f1
+size 40704498
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028_collision.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028_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/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/hand_sanitizer_028_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffed7d9e50812abe42f848bfb7f7de97837e8f99
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83f051fa515fa6850f63354db1228979d80fc542
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a92de5432e48f326aa47959bfd599ad84fffaf58f7f5a0861b066d58b4f645
+size 4213380
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/hand_sanitizer_028.xml b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/hand_sanitizer_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0544ccc1d53aaa817f044c7138a16243bbc81320
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/hand_sanitizer_028.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_028">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_028_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_028_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_028_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_028">
+      <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/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ef2d9db511514600f40d966cad3ddcbac9ed1e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22c4ce65697346dc1c3d70178e237d62eb7a8e339755f96b1d6b091effa61eb
+size 38781782
diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd415f02735f888152d6ccb45330d1651e9cef6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision.obj
@@ -0,0 +1,10185 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_028_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_0.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a344956b77cb83e0e924de036d11642518f22dd7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_1.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed5ab78cdac65d47b6387bd3db22840f70b8d7e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_2.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63a0336d8a33f78706c58fee0b34ead4d092471
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_2.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_3.obj b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bdc76a2ef8de155b2765fd1c1f2a1c920312d02
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/dc00203905b35fb8b8ed381e1e8e2271/mjcf/mesh/hand_sanitizer_028_collision_3.obj
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