diff --git a/.gitattributes b/.gitattributes
index b3c20f8c019df964510dd6579269b0fb0cb902dd..6b6046c21648be793accdd006a41950f5dfe616b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5245,3 +5245,5 @@ dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/lotion_
 dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/mesh/lotion_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.urdf b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dceda36a66d27143456eeb12b59efa6050cbaf6b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_004">
+   <link name="hand_sanitizer_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>589b8d46fa675b6d9463f7c038c5beef</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>aloe dispenser</name>
+         <color>green,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>green bottle with pump dispenser and aloe design</description>
+         <min_height>0.1122</min_height>
+         <max_height>0.1122</max_height>
+         <real_height>0.1122</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223949</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>9</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>NO: {"summary":"Body, pump head, collar, and nozzle ring are clear, but printed graphics are wrongly segmented as parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.usd b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6bb5d5168ea34ef3c2e7c28258d836e169e2dc79
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/hand_sanitizer_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a79914bdee4448fc8da870dc1b9fa74206041e305a594fed967a9618f011ee
+size 4895457
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.glb b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7b08e0d1d32d640bbfb7d7a65e9edc1fd5416a73
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a787524e0454ce7e0a8b2616e726e927e47cdc11c4d90018401291634736c2
+size 12245428
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.mtl b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b99ccaf8356f5c98dc2f9f9b9433e828a1d63b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.mtl
@@ -0,0 +1,6 @@
+newmtl hand_sanitizer_004_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/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9991897c598202603c06ff4603e2a6af4f43d44
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004_collision.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68eb0faa32a97c0364a14172273cffc2bc530344
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004_collision.obj
@@ -0,0 +1,14484 @@
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8232189f5b2387b6b595d89abd4942cdf664f4e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/hand_sanitizer_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8411f9cf95822c00893f1e9c5716421fe25cd55b657a5c89bb00609ef173068
+size 8914853
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1396f8667d2b1ac4a3e1835ca30b3586e2d5c510
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8232189f5b2387b6b595d89abd4942cdf664f4e4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8411f9cf95822c00893f1e9c5716421fe25cd55b657a5c89bb00609ef173068
+size 8914853
diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/hand_sanitizer_004.xml b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/hand_sanitizer_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d151c30c9c4d3a500e3174592b4a1038cdbe011e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/hand_sanitizer_004.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_004">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_004_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_004">
+      <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/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb8c684858d4cb229e47c2d5221436988d25ef2
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004.obj
@@ -0,0 +1,108010 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_004_geometry_Looks_material_0
+v -0.002951 0.028276 -0.004552
+v -0.002951 0.028276 -0.004552
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c9677fa68302f9a8d41046ddf0cb371ec671fa
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision.obj
@@ -0,0 +1,14484 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_0.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0bfa6eecf0d6a8358ca941243eb74524b2f459
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_1.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fddbcfe8b04645d636896448524d9aaf8f92457
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_2.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff5554937871cb03ab3ce1a0c9ee2b9eefdbb96
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_2.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_3.obj b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3d492739c06fb9bfbb97e01c95ded79df630d5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/mjcf/mesh/hand_sanitizer_004_collision_3.obj
@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
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