diff --git a/.gitattributes b/.gitattributes
index 880d6b9cfddcd16f98bb9d59a94299dac091be2c..38391c10eb95fee1d95653478ab7bc4d4cab2ef8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2589,3 +2589,5 @@ dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/mesh/to
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 dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fdfd082799ac292ae2d298566a5e03c3d1774797
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.glb b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.glb
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.mtl b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cb903e113bc25ac31f7cdd8b0743e24fc71e8ce7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.obj b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039_collision.obj b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de3ba8abd62e00ac4ac1c334157f827c665a4c2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mesh/toothpaste_039_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision.obj b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1882d3767e6efdc10e992440c2d3c915781e649
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision.obj
@@ -0,0 +1,4415 @@
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_0.obj b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c02dc2d8f4c42bf0dfca2c989b87ed85fa818e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_1.obj b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37e8d16929aa7e5c1457d211e8f36f3a036869ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_2.obj b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc71d5c77547ac44f8aaf79bb41ea5c7066ab981
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/mesh/toothpaste_039_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/toothpaste_039.xml b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/toothpaste_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7f221ff9b159c6185178eb164cfb51986e65e57
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/mjcf/toothpaste_039.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/textures/material_0.png b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 4799095
diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.urdf b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_039">
+   <link name="toothpaste_039">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/toothpaste_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>
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+         <uuid>ae6cbcb876875a6c98858b444c4ba8bd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>black toothpaste tube</name>
+         <color>black,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black tapered toothpaste tube with white band and 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>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125335</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028178 -0.018977 -0.069126</min>
+            <max>0.024755 0.018387 0.090874</max>
+         </aabb>
+         <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/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.usd b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e69a1eb7fa1c1a049f844e74504d7af48a38fb0f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/toothpaste_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcdeb438ace0d2751780bd6e503125c0e978c09c5383d44ec609cc4f108d7d26
+size 4472097
diff --git a/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/video.mp4 b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d083527d698f3fa862f59dbfdf7447abf8d2c432
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc38ef0823542dc81c2addad167da342e20199369620c770034abf35b33601fe
+size 120388