diff --git a/.gitattributes b/.gitattributes
index 15595e0df8df1fd8c9c688bfec8c73973a803ae6..ada7caa1121245076868bcd317af07755ceba8db 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2423,7 +2423,5 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/facial_
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/facial_cleanser_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/mjcf/mesh/facial_cleanser_013.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/facial_cleanser_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/mesh/facial_cleanser_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dbe1330893bb5d40b36dcbdc2e15f646/mesh/sponge_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/dbe1330893bb5d40b36dcbdc2e15f646/sponge_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.urdf b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d5b4536879af8b0c5281d93b943088356913601
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_001">
+   <link name="hand_sanitizer_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>d853db489fd0506a9232de3cacfb7fa4</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>aloe sanitizer</name>
+         <color>green,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>green bottle with pump dispenser and aloe design</description>
+         <min_height>0.1693</min_height>
+         <max_height>0.1693</max_height>
+         <real_height>0.1693</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427223851</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>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/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.usd b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/hand_sanitizer_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245d5429b649522d7092ce686f12edc1bb2e9a663895ba767cc58af68221795f
+size 4826333
diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4d5c6cf742ab1fec64be936d428a65a3c768c90a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7bcf9e633f479cf49a1bcea7c256f9aa9b59502ec892c92ca2b43e4118effc
+size 13158652
diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.mtl b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe630fb7234b6cbd371e5366ef11b30e457224f4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.mtl
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+newmtl hand_sanitizer_001_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/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ba2d53f8efc6c584020606b3f50a2ce8e31ea4
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001.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/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001_collision.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18e72b885419f89a37023db6bc2b504d12e8b33
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001_collision.obj
@@ -0,0 +1,11163 @@
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diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3966afd3f0836aecdb3e292945c639604e6b88b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/hand_sanitizer_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b1f904355702926fd1b278ce6cab32e618376472d74916f2afbb303aec5124
+size 9906083
diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2964490988d2a0f31ebd6f577d2d04e25cceae6e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3966afd3f0836aecdb3e292945c639604e6b88b5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b1f904355702926fd1b278ce6cab32e618376472d74916f2afbb303aec5124
+size 9906083
diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/hand_sanitizer_001.xml b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/hand_sanitizer_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..efa79340e47a0342052daca94ba5233af34a84d1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/hand_sanitizer_001.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_001">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_001_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_001">
+      <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/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1fc349ebabb11390c48614aa95297a0463b9cb
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001.obj
@@ -0,0 +1,106012 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_001_geometry_Looks_material_0
+v -0.001399 0.040418 0.004615
+v -0.001399 0.040418 0.004615
+v -0.001942 0.040390 0.000562
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+v 0.002718 -0.035951 -0.076293
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+v 0.001399 -0.036023 -0.076339
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diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f5394d92f954a9aedca3c0c749160c95961111
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision.obj
@@ -0,0 +1,11163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_0.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286f8bc53adf4a4de6c5cbcf4f41245b3b89d9ba
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_1.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb774293100988b221ca5d1ad36ebce59cbd320
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_2.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fcef9e11b57bb2cd986e0bbab8a122ed8c79801
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_3.obj b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d00d1542f8795b9a3b77cf84a7fd8ec26e8c58
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/mjcf/mesh/hand_sanitizer_001_collision_3.obj
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