diff --git a/.gitattributes b/.gitattributes
index 5a30996024564ddc1b12a7b17685cf419837d489..aff376e34802cb6528664fef3214c00ddee89c9a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2447,3 +2447,5 @@ dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/lotion_
 dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/mesh/lotion_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/mesh/sponge_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/sponge_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.urdf b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65d3e70534807f4116761f5c81fcee2d46350365
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_022">
+   <link name="hand_sanitizer_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_022.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_022_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>f55d4c8c2bd25551aea73e58b063d068</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>red cylindrical pump hand sanitizer bottle with printed label</description>
+         <min_height>0.1145</min_height>
+         <max_height>0.1145</max_height>
+         <real_height>0.1145</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143556</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020734 -0.023929 -0.042777</min>
+            <max>0.020670 0.020600 0.071677</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.usd b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e0326f406c4556da40ce73f35f44afdb7ece896d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/hand_sanitizer_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94c32a9aff862485be63324b93e81a226eb4ef28752c82d05a9bf4c4c20317cd
+size 4817681
diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.glb b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..68ec8a4a58578a2ba519e8fdeb4c716d10c79834
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b1c119c4593e8e92359060c9a0e12ed0d91630d0da9487b4512cdca07e031f
+size 12222260
diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.mtl b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80910d0ec54696cfa04e63770b4c72bc9a171f3d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.mtl
@@ -0,0 +1,6 @@
+newmtl hand_sanitizer_022_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/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b104f6fe544f70594a99c749e01e406dc27c09
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022.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/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022_collision.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9ed72d85d3c162644ed7d547dd88b439d42b65
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..475de70d0787ccf8dbfe74b2f7a596454ab466ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/hand_sanitizer_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06bc47bda543c8029be52049eac94d08d24d8850f61fec096387fb004fad32b3
+size 8981604
diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46795009f86e7b2c0cf7ea77d31284a0bc3490e9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..475de70d0787ccf8dbfe74b2f7a596454ab466ed
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06bc47bda543c8029be52049eac94d08d24d8850f61fec096387fb004fad32b3
+size 8981604
diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/hand_sanitizer_022.xml b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/hand_sanitizer_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..09dbdf0d5a6c037ff3b889a8278b5c5cc659b751
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/hand_sanitizer_022.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_022">
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d777629d00d3e688eab73389b8a4d9ac1060e5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022.obj
@@ -0,0 +1,107116 @@
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0e895fb290a00c2a3edfcc40a5662edd21e7dd
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision.obj
@@ -0,0 +1,6535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_0.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e9919e175cc7b4dae10921918d7d533b051564
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_0.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_1.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4000755429516a124ad864d9678acfb69779ca6
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_1.obj
@@ -0,0 +1,1003 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_2.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3141630cee9c7ec8537e324cdf95f9fb70cf932e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_3.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c8dbf5c507f016746ed9cdb87febd87c89347df
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_4.obj b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ca11d09d28852ee0b64b5f68aad90a88cf82e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/mjcf/mesh/hand_sanitizer_022_collision_4.obj
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