diff --git a/.gitattributes b/.gitattributes
index f35e639d925be3a03ef1325d4ae0e0159cb23b21..364217cd184ee0810bb244037728b42f4a58d41c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2467,5 +2467,5 @@ dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/hair_cl
 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
-dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/mesh/nail_clipper_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/nail_clipper_009.usd filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11c57f997290cd9415ee60b607c4a7dcbae68313
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_024_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
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e143a6498e275fc31f8b286270d8e0a6973934d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb97091ec4e70435b15dd1b82d11b2784e9f840e566a0d21d461cf90173f0cca
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.glb b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c1037ff18052c5086af0d441240142c3441cb6a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23435a269a25e0c1a2e5110ae88bd931d115136fc9aed622c3ea70551b2419af
+size 11683968
diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.mtl b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92701d9633c3ef178c79fef6e14a4b81124d4c06
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_024_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/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830dd95af43488ffad30430cd04660333d6cfaa7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024.obj
@@ -0,0 +1,109728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_024_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024_collision.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..277e808d3fe9489fe2d9bb0b815d843914dd6897
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mesh/toothpaste_024_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e143a6498e275fc31f8b286270d8e0a6973934d
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fb97091ec4e70435b15dd1b82d11b2784e9f840e566a0d21d461cf90173f0cca
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f605a9703fd1d27a299c3595cbdd720dc9893a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision.obj
@@ -0,0 +1,6580 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_0.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09eb0b201fd26f73f045c984e005268526f66c5f
--- /dev/null
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_1.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e94c50e9b63277052df5b1f3762c5bad0d7c2d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_1.obj
@@ -0,0 +1,958 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_2.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c600e6a1f4480037b81cd7f01511e277479df3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_3.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9bfd04870505b80d6093d943aadfa83612e739d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_3.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_4.obj b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d464982dd171afccf4f0860c975b3f47d98dea02
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/mesh/toothpaste_024_collision_4.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/toothpaste_024.xml b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/toothpaste_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f0e46c831e541f949a2a1b77dd518817f54af30c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/mjcf/toothpaste_024.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothpaste_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/toothpaste_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_024">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" 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/0e80f605a8b259ef9d5678238baf59c0/textures/material_0.png b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fb97091ec4e70435b15dd1b82d11b2784e9f840e566a0d21d461cf90173f0cca
+size 8327692
diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.urdf b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.urdf
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_024">
+   <link name="toothpaste_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>0e80f605a8b259ef9d5678238baf59c0</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>pump toothpaste bottle</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>dark tapered pump bottle for liquid toothpaste or oral cleanser</description>
+         <min_height>0.1538</min_height>
+         <max_height>0.1538</max_height>
+         <real_height>0.1538</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124958</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030347 -0.029985 -0.054996</min>
+            <max>0.031298 0.030015 0.098783</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.usd b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 4897835
diff --git a/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/video.mp4 b/dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/video.mp4
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@@ -0,0 +1,3 @@
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