diff --git a/.gitattributes b/.gitattributes
index 8cd4847b1b4e812201b928cf3ccbcae0145afd76..869aa37a689979f4c1e5770898d2165dc5955bb5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2607,3 +2607,5 @@ dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/mesh/na
 dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/nail_clipper_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/mesh/nail_clipper_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7560c54b87b72dab2453bf461fd0556f5990c56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_023_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..427c8d150117b00d0b1e3d0b23e473150808955a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/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/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.glb b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69ef81e7223023f3522a32910eef6d7463eef59d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11483016
diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.mtl b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d19f872fa722007fc4e87fef2582ce96ffa2836
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_023_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
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0386607b74e2d7280cb9d7407dfd9b719041ffc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023.obj
@@ -0,0 +1,105500 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_023_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023_collision.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99148a9f4385cf8ffa32825835fe22eb5729c12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mesh/toothpaste_023_collision.obj
@@ -0,0 +1,4661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c54d407f566884a6c847388d307a9b6be8103c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision.obj
@@ -0,0 +1,4661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_0.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a8eb5afbc0ed2a564220ef644a60be86f4c663
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_1.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab2888e2e532c109e802a3de1062fe65b138ee8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_2.obj b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/mesh/toothpaste_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d1d39706b15aa7c020f7a044a0a2afbca4d5ee
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/toothpaste_023.xml b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/toothpaste_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2bb7e52b602542b4312afbd927cf2506ed04c21d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/mjcf/toothpaste_023.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_023">
+      <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>
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diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/textures/material_0.png b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:8851c4f35d811777cecf6a1e3c6700e7d2cb9a8e7285312070b33fc35b69883b
+size 8272080
diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.urdf b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.urdf
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+++ b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_023">
+   <link name="toothpaste_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>cc8d41c5a62c55989bb5d8a6a0c77a91</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste tube</name>
+         <color>green,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>green and white tapered toothpaste tube with gray cap</description>
+         <min_height>0.1909</min_height>
+         <max_height>0.1909</max_height>
+         <real_height>0.1909</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124943</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019455 -0.027792 -0.081378</min>
+            <max>0.022613 0.032208 0.109500</max>
+         </aabb>
+         <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/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.usd b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/toothpaste_023.usd
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+size 4828634
diff --git a/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/video.mp4 b/dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/video.mp4
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