diff --git a/.gitattributes b/.gitattributes
index cbc71c6838b18f7a3367545768f0eba63ee6876e..b64a3cbdd42ba23a8a1a04504fd86a82e1d52181 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2497,7 +2497,5 @@ dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/to
 dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/mesh/razor_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/razor_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/comb_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/mesh/comb_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652/dental_floss_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652/mesh/dental_floss_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/toothpaste_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2aff1136e9d81ba251a7717d359072397077d780
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aa76e89401c1e1749988288688e1dae2757789c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee4947189e658345e5a0ed043684c712542e1814953415664139e1b0dc2a4b0
+size 9938028
diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.glb b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d51c3ec4b18383398e10156f08a4560b4951f4b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba3dff88909f3c286e76a678c840106cab9b08a70caee18d308fa845dddeeb0
+size 12937820
diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.mtl b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..583e94e7407f968907abd70b13ef0a7b36ffcf57
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_032_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/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.obj b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b278a86b3ae5a6ad4dff17da9683632ebb83f8f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032.obj
@@ -0,0 +1,114804 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_032_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032_collision.obj b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe4ef29cf16bfc43ca8583aed3d3323de94522b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032_collision.obj
@@ -0,0 +1,2803 @@
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mesh/toothpaste_032_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..5aa76e89401c1e1749988288688e1dae2757789c
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032.obj b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032.obj
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision.obj b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4099f921267be70651d50f275f82975e3ce8461
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision.obj
@@ -0,0 +1,2803 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision_0.obj b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27aeecf0325e4ae42a66627e4e2118f180aa999
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision_1.obj b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4b019f25c54dc8d830039a802e914c70d4fcda
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/mesh/toothpaste_032_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/toothpaste_032.xml b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/toothpaste_032.xml
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+++ b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/mjcf/toothpaste_032.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_032">
+      <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>
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/textures/material_0.png b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/textures/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/toothpaste_032.urdf b/dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/toothpaste_032.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_032">
+   <link name="toothpaste_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
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+            <mu2>0.45</mu2>
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+      </collision>
+      <inertial>
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+         <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>42fe3c1e4f21594b840ed7043c466ca4</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste tube</name>
+         <color>white,blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>white and blue tapered toothpaste tube with ribbed 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>20260611125202</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.032039 0.021043 0.096996</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
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+            <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>
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