diff --git a/.gitattributes b/.gitattributes
index eeadb9f046ce30df1b1453b29be4dffa9b4fd153..477ae2a478c5887aaef0b7622182a00eedff4971 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5191,5 +5191,5 @@ dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/mesh/wrench_001.glb
 dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/mesh/wrench_001.obj filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/mjcf/mesh/wrench_001.obj filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/wrench_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/33eba2e4f2915b2ab81b4411f035d2c0/hand_sanitizer_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/33eba2e4f2915b2ab81b4411f035d2c0/mesh/hand_sanitizer_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.urdf b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95f3345b3dd4966fa66a50c62950eb3927d6f851
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_018">
+   <link name="hand_sanitizer_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_018.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_018_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>3448a73a0631553a839f3375c5b66124</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>blue,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent blue pump sanitizer bottle with aloe graphic</description>
+         <min_height>0.1111</min_height>
+         <max_height>0.1111</max_height>
+         <real_height>0.1111</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143426</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026369 -0.026446 -0.040486</min>
+            <max>0.026274 0.026281 0.070587</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/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.usd b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d953b61bd5786c9e6bd065f251b8d11735cdd8fb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/hand_sanitizer_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0894b199a51b90bc363ae48c016aac197c4ff2008127259bac76ecbaf0960ff2
+size 4804099
diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.glb b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a3f321f71332318f0ff24728a1f4cf421d25e93
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be0d1ac6bee9e916c1477e97a049c42f5f7e0f4308ea326d1ef6377a4d384fd
+size 12121260
diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.mtl b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2291fc775e77684966706cab610dd0f32757c901
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.mtl
@@ -0,0 +1,6 @@
+newmtl hand_sanitizer_018_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/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ed3cd2ce7e953480c32fae773d1c8a0f80d331
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018.obj
@@ -0,0 +1,105576 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018_collision.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35f28bc3f10e14c0c3178d5e0a62efdefe91d51
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/hand_sanitizer_018_collision.obj
@@ -0,0 +1,11571 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c04ca3b14af5331f649df4fa86539111af1078b9
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_018_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
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d02b19619e163cf74a465656a089c85c36a4c10
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cdc19e77f8cc586c5b4eb427be5e8de43d73b7ea9599c668cb788953715c8a6
+size 8932048
diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/hand_sanitizer_018.xml b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/hand_sanitizer_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7c2b7633b2c1a23c37af8259caea12c231eeafbb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/hand_sanitizer_018.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_018">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_018_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_018">
+      <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/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d2cc63b1fbf436deaeec5f65079a76a260fd7b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018.obj
@@ -0,0 +1,105576 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_018_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c53ca037da8df4c593280b93c90f10931d6c877
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision.obj
@@ -0,0 +1,11571 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_0.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0a737a8f46324074bb8efdca817b8b9434cd394
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_1.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5402a35f4b7724d8689fa881cf0c51f525a48001
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_2.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0f1498ead3370ad895f11a4cb2007f0543ede6d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_2.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_3.obj b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95328c16aad467a68f89a41720ac5d97a2d39f32
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/mjcf/mesh/hand_sanitizer_018_collision_3.obj
@@ -0,0 +1,742 @@
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