diff --git a/.gitattributes b/.gitattributes
index 382b2e6213093b97345ab836dcf159f93e5f54b6..7487dd560236a09bfa5eb5d18a9aa2df2f611e1e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2523,3 +2523,5 @@ dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_
 dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/56ee044d44375cde836bfad7c23f1c02/comb_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/56ee044d44375cde836bfad7c23f1c02/mesh/comb_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..886bdf5b625c33555dbcfb9a6f7df5438ce60e39
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_021_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 toothpaste_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b458fbe4c54e71ad4ae27acd7953c794d2d16051
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062c35b3f503e5a75bded5e0a05beaa614ef9af816ffe04c29d9fb6fca09e394
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.glb b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0b51fdd04fb3137e814b7ead628bddfe64a9cf24
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3981dd13d79b1f47f469f612f4a8f2c611b8744c8917f852b1dcbaaad342ca55
+size 12986064
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.mtl b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..824d451ae1d9b0c73c72adf797a9239b53b92fcb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_021_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/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.obj b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..635f56f87faa35930d09744cd254c4727499c58b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021.obj
@@ -0,0 +1,108012 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021_collision.obj b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd44315cc7a9001bf1691639d4bda7dcc996b7f9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021_collision.obj
@@ -0,0 +1,2782 @@
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b458fbe4c54e71ad4ae27acd7953c794d2d16051
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mesh/toothpaste_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062c35b3f503e5a75bded5e0a05beaa614ef9af816ffe04c29d9fb6fca09e394
+size 9756189
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b458fbe4c54e71ad4ae27acd7953c794d2d16051
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062c35b3f503e5a75bded5e0a05beaa614ef9af816ffe04c29d9fb6fca09e394
+size 9756189
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021.obj b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c02bca2f93a8cf8c355d3e8a50b6db3aad47970
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_021_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision.obj b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787f727c4a1a601dafbc16fd6c7afdc9e2f4061f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision.obj
@@ -0,0 +1,2782 @@
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision_0.obj b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f013c0a56b44d3161a74b22e39b9b31b0d8966de
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision_1.obj b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c2669fe153fb4ce788e71765bf5f724c66cb73
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/mesh/toothpaste_021_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/toothpaste_021.xml b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/toothpaste_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f33cc73f3a741e7909e68c15a20c75a51c05585
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/mjcf/toothpaste_021.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_021">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/toothpaste_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/textures/material_0.png b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9756189
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.urdf b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_021">
+   <link name="toothpaste_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_021.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/toothpaste_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>713075fc28175c859a14d07a17ddaf86</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>green toothpaste tube</name>
+         <color>green,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>green-to-white toothpaste tube with cylindrical cap and printed text</description>
+         <min_height>0.1707</min_height>
+         <max_height>0.1707</max_height>
+         <real_height>0.1707</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124916</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019825 -0.029204 -0.068945</min>
+            <max>0.024162 0.030796 0.101789</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.usd b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/toothpaste_021.usd
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+size 4847402
diff --git a/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/video.mp4 b/dataset/bathroom_supplies/personal_care/713075fc28175c859a14d07a17ddaf86/video.mp4
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