diff --git a/.gitattributes b/.gitattributes
index a3e6a60117a88455826416db07c9e3a274f23194..a89b1445f70c549621303533b632f56d3c8909c9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2469,7 +2469,5 @@ dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/to
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 dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/hair_clip_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/mesh/hair_clip_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/mesh/toothbrush_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/toothbrush_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..607d2177546831bd9426873a5298c229619d195b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_014_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62528d094efdc1775100ab99c6065036b0fe20b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.glb b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b60e45d24ef1d31a528e0f06c8fa1dce5e3aee31
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11029612
diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.mtl b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa4d88e6af8a8b6e4be253fd5d3b97ead22fe48b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_014_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.obj b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6493dc4d87ba094c5d3dd64893f0ffd104b1f97f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014.obj
@@ -0,0 +1,108394 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014_collision.obj b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44fbe87803ff828d8430e13f3a62f33681c89166
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mesh/toothpaste_014_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision.obj b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7525ecce902bbc94658677178db51b6c52f72370
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision.obj
@@ -0,0 +1,3169 @@
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision_0.obj b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d07f699454b2e171220277ff3e00aecc62bfcf6f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision_1.obj b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2048c4a31f83fe913148714e210cda7ae9e6daa1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/mesh/toothpaste_014_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/toothpaste_014.xml b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/toothpaste_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..61d13eeb9b1b7ee6ec8be46f2c222c110f7823a9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/mjcf/toothpaste_014.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_014">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/textures/material_0.png b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:e025fe50c7ec15b2898a4473aaed39be95f11d5591b6aa1675767309a13dd43e
+size 7957110
diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/toothpaste_014.urdf b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/toothpaste_014.urdf
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+++ b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/toothpaste_014.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_014">
+   <link name="toothpaste_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>161ec563327053e58ed6baccdb85fe52</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>striped toothpaste tube</name>
+         <color>white,blue,red</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>white plastic toothpaste tube with wavy red and blue stripes</description>
+         <min_height>0.2038</min_height>
+         <max_height>0.2038</max_height>
+         <real_height>0.2038</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164126</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024984 -0.035175 -0.082955</min>
+            <max>0.025771 0.034825 0.120803</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/161ec563327053e58ed6baccdb85fe52/toothpaste_014.usd b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/toothpaste_014.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4736034
diff --git a/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/video.mp4 b/dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/video.mp4
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