diff --git a/.gitattributes b/.gitattributes
index 3b04e11e6a7923c80c294a2d53ae86102d3f0b7a..8de37aced4d8963a54384e43a484f7d3ba52b6bf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5207,3 +5207,5 @@ dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/mesh/sp
 dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/sponge_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/mesh/shampoo_bottle_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/shampoo_bottle_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.urdf b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc5cde242c8af55f6a46295b2db17e9fb4ad1899
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_002">
+   <link name="hand_sanitizer_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>3bd05c63f7dc514bb20fe71b381db020</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>dove dispenser</name>
+         <color>blue,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>oval-shaped bottle with pump dispenser, blue and white design</description>
+         <min_height>0.1156</min_height>
+         <max_height>0.1156</max_height>
+         <real_height>0.1156</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223911</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.usd b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/hand_sanitizer_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.glb b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11575208
diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.mtl b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3454f8ca239f5361d976a34d4b52f358353a4df8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.mtl
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+newmtl hand_sanitizer_002_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/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20072aa03482f27263001b3403e76c71f64ee6cf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002.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/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002_collision.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c41ea72dde38625c33691bc4592ea5ac6fc6c2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002_collision.obj
@@ -0,0 +1,8583 @@
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41ae1a60c68c6db396a4580b0f3d4d4e57d5f1a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/hand_sanitizer_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804f443c35368ab5f882353ce96226240ee2b75b42f4644213ae28d15550c9d2
+size 8313932
diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f90428dceaa82a06fd30e12782cb3bc98c7b64c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41ae1a60c68c6db396a4580b0f3d4d4e57d5f1a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804f443c35368ab5f882353ce96226240ee2b75b42f4644213ae28d15550c9d2
+size 8313932
diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/hand_sanitizer_002.xml b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/hand_sanitizer_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6728b511e3d804de560a0e98c0d18dd62dde551e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/hand_sanitizer_002.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_002">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_002_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_002">
+      <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/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe3bfef74e045fd2011e44baf48437d678a0f473
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002.obj
@@ -0,0 +1,106238 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_002_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d353be17d9f1e94d7cd9a8b7e151468033287e8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision.obj
@@ -0,0 +1,8583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_0.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb12984c14aaa65095236ee4f6e3e209ee97149
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_1.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1678432a9df2692c2197ec79e2b539d28907c4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_2.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87dfb5d725cc9bb178b387763b6d1a73f37a7d98
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_3.obj b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dfdf7c2c9d630813669013c4e5510e13bc46429
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/mjcf/mesh/hand_sanitizer_002_collision_3.obj
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