diff --git a/.gitattributes b/.gitattributes
index ed490b4aecb90b0d8b6dc54e5bc9c57c7d7b1008..bc54abd16493f61325429a5da11ca4ca77240a9e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2547,3 +2547,5 @@ dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/hair_cl
 dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/mesh/hair_clip_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/86ff8a76b73858109e19243b38b704ad/mesh/toothbrush_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/86ff8a76b73858109e19243b38b704ad/toothbrush_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11ffa32b9eb44a536db41839afed6c3746b436f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_034_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_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41c12a2f0999cdc8843cc5b0b873a504129bc83a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82cc9cb060390d025cb9182dedab040b4017d68f047a8a16babbc4c3cd2e2df6
+size 9483746
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.glb b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c01ee7f3f5a899fb3a2cbf5a8fa2e2c709c1e197
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04b12fd1c395263c455eac030b4622e5f1223abe8ec6c4c0ecd438ad809a340
+size 12009800
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.mtl b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f765f4fc39e6b0e8bba8e4f8d090efa5fbe9766
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_034_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/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8001149a85db3d8a63414982816d3bc1c4932f28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034.obj
@@ -0,0 +1,108760 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_034_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034_collision.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd166eb065a3b359eeddc6e462af7e546580cce
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mesh/toothpaste_034_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034.obj
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d19b1c4cc2151b7aa8ef40fdb0e6ff412513055
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision.obj
@@ -0,0 +1,3824 @@
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_0.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f350e27734424fa67c5ddbe342d3ca3d004c0d51
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_0.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_1.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..900c52a4a497f98758717bf82ddee076563320fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_1.obj
@@ -0,0 +1,970 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_2.obj b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88f6bf304ee66eadad214639f04e0e6ef94c432b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/mesh/toothpaste_034_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/toothpaste_034.xml b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/toothpaste_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..962738680424dab4c0a572448314c1f30ec03df8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/mjcf/toothpaste_034.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_034">
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+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/textures/material_0.png b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/textures/material_0.png
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82cc9cb060390d025cb9182dedab040b4017d68f047a8a16babbc4c3cd2e2df6
+size 9483746
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.urdf b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4e7f754e39ea750f0343708f633bc9d733553311
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_034">
+   <link name="toothpaste_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_034.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_034_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>862cf5783c8d57f98695988773455071</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste tube</name>
+         <color>blue,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue and white squeezable toothpaste tube with round cap</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125229</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027724 -0.019376 -0.065459</min>
+            <max>0.027723 0.019264 0.094541</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.usd b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/toothpaste_034.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62371772eeef5bd10aac5bf066ba40008e1221f1e6e5a1734ae380408f308d64
+size 4404037
diff --git a/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/video.mp4 b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f072c999496c4f55a79ad0a5c6677a4ec7bdc535e3604d65c69426b9b0e42af7
+size 151874