diff --git a/.gitattributes b/.gitattributes
index dc0b939f854d5b0e1464864105e954026ace2455..9414c53e296cf9e5265e2494fe6418bb09474df1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2313,7 +2313,5 @@ dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/facial_
 dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/mjcf/mesh/facial_cleanser_019.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/hand_sanitizer_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/mesh/hand_sanitizer_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/mesh/hand_sanitizer_011.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/mjcf/mesh/hand_sanitizer_011.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.urdf b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc56bb4cafd5c81ae13947231901be868196f42e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_008">
+   <link name="hand_sanitizer_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>334bd5b5d6f75b1ab73d178eccde58b3</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>black dispenser</name>
+         <color>black,silver</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black cylindrical bottle with pump and printed logo</description>
+         <min_height>0.1378</min_height>
+         <max_height>0.1378</max_height>
+         <real_height>0.1378</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427224115</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>14</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":"Main parts are mostly right, but decorative logo fragments are mislabeled as parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.usd b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/hand_sanitizer_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b37abec0f12adb98614130e82d42bf9ee94c2e7aa02fb049409f2d8a8d404d65
+size 4820190
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.glb b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9907ad03812a3195fd890e20d551dc06ff00038c8d2bd807791d659f91ad1ba2
+size 8524480
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.mtl b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..148833c14d5d41d9bf0e680b02f200fbcc560cde
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.mtl
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+newmtl hand_sanitizer_008_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/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140f6ef3c1874de7cf65cb5d794e1cca0f2a5807
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008.obj
@@ -0,0 +1,106922 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008_collision.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7aa1b81bbf3823633509a513d4bdb04ec16329
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab462663e89884b5bd60ee9ca1a96601bc8ab706
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/hand_sanitizer_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d973658c43acbbca3780730bf09cf8598e98886cb3a1b9e5cc81af63d6db3cbc
+size 5278614
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc9da8e1e9d5b064e462471cee4508f2c48c2537
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab462663e89884b5bd60ee9ca1a96601bc8ab706
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d973658c43acbbca3780730bf09cf8598e98886cb3a1b9e5cc81af63d6db3cbc
+size 5278614
diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/hand_sanitizer_008.xml b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/hand_sanitizer_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a88ea8da40ee60b334350f2d82946d7a06a4a6b1
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/hand_sanitizer_008.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_008">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_008_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_008">
+      <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/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50a8aa18a333e249566d8deec667baafb642489
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008.obj
@@ -0,0 +1,106922 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl hand_sanitizer_008_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f1c95c32c35201a4668bbba1e225418284ceab0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision.obj
@@ -0,0 +1,7662 @@
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_0.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61daf3265ce6b2fc89aa61200afd986f8acc16d0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_1.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05380b8ef9215837964aad9c13c48cbfbd795773
--- /dev/null
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_2.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0ba2d4301f763c2ac77c198d3d6e024f3171a8
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_3.obj b/dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/mjcf/mesh/hand_sanitizer_008_collision_3.obj
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index 0000000000000000000000000000000000000000..f9ae8dbc5e3ff8fcd71699a10f21c880661ac28b
--- /dev/null
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