diff --git a/.gitattributes b/.gitattributes
index 8ca94e399a2f1e2f8f27d510a1e1c47a0ae63d8b..dce08a580923b49d8ea1b5397f41b1aeaa1afbf1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2465,3 +2465,5 @@ dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/mesh/to
 dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/toothbrush_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/hair_clip_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/mesh/hair_clip_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9edd89949c82ebe167ae3531f08253234356c298
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_036_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd toothpaste_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..20d293ffa74f87b5bbb914d1d6bf105937a5bc3a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/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/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.glb b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59743b88bfb41e467dd18b41b2ab4d099e787527cbbe719460d5ad10daf0f6c
+size 7624228
diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.mtl b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9bd42ab491d41b509aa4658ffaa64bcb5cb39032
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.mtl
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+newmtl toothpaste_036_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/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.obj b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17734e3274462c39afc590207f7b6bad752fcc11
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036.obj
@@ -0,0 +1,106272 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_036_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036_collision.obj b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ddfb2dae7a33678e65d1bdd6a4b2c0eaf3e4f8e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mesh/toothpaste_036_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision.obj b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d57b02c068f604cd0e6e621d2066649f966f3c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision.obj
@@ -0,0 +1,3992 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_0.obj b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86504e1d755bc79b1bd1b77c645820bce579032
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_1.obj b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61813a9c3c03c4e85bb66193e9d7083c0bc237e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_2.obj b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efef17b094675c298089dc4247e9afc34dde6b6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/mesh/toothpaste_036_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/toothpaste_036.xml b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/toothpaste_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3bff931a170d58d1b9d246d613e31db560f7287d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/mjcf/toothpaste_036.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_036">
+      <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/0fcf562dd5165bc6b779ea75c9df2552/textures/material_0.png b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b46bb7a42ccbc6c0f1e0eb1e45e6b370f92da72767fc71e4a9577dcde3391dda
+size 4762304
diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.urdf b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.urdf
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+++ b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_036">
+   <link name="toothpaste_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_036.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_036_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>0fcf562dd5165bc6b779ea75c9df2552</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 squeezable toothpaste tube with white graphics 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>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125255</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015142 -0.027150 -0.073127</min>
+            <max>0.015925 0.025890 0.086873</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_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/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.usd b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/toothpaste_036.usd
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/video.mp4 b/dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/video.mp4
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