diff --git a/.gitattributes b/.gitattributes
index 2d68ec05be3d24ecbcdf277a6c571f360d93611c..7759b56c95529bb5023471a1aea0b43086539cf1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2573,3 +2573,5 @@ dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/mesh/ra
 dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/razor_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/mesh/toothpaste_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/toothpaste_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4838011c499e2a494dae36502de6a777ade7f1d0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_030_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
+map_Kd toothpaste_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c812d2bebda559454515551dab2aa1ce0672367
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/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/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.glb b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7c5cc66f4a6bf2a45c6b7fcb674c0c3887c0a496
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc478a66beec618dc7a72bd9e97a7b6cdb7f1d53b50fc08bac9f4977aed41c8
+size 12835852
diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.mtl b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e1c8cc44f858620d16b90cfa82a33d40f7030cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_030_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fcfe72dd8ee177cda71cfc6b865d1eb5b8358c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030.obj
@@ -0,0 +1,113432 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_030_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030_collision.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc22e849250498b068ae9f322e57fbe4b284b379
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mesh/toothpaste_030_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2636b956fc80bb712ffa2fc3b0c574ad8e22f6f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision.obj
@@ -0,0 +1,4502 @@
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_0.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d979c222604be266baac75be7d60368efdd218e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_1.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3dd1253163414cb554465fe1009022a771b50b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_1.obj
@@ -0,0 +1,1036 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_2.obj b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846e9428bfcc1c4e9ad8f842983904b30cb0b257
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/mesh/toothpaste_030_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/toothpaste_030.xml b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/toothpaste_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c674bb9f991f746b543f2ab9b26782d27ac3b75
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/mjcf/toothpaste_030.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_030">
+      <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/9c2ce8b4b5305610acab27055bdcbe8f/textures/material_0.png b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1723af156fd3a664ad406079f29f99fa577543e15d0457028132c631b31a11e1
+size 9704415
diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.urdf b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.urdf
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+++ b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_030">
+   <link name="toothpaste_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>9c2ce8b4b5305610acab27055bdcbe8f</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>blue toothpaste tube</name>
+         <color>blue,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue and white squeezable toothpaste tube with gray cap</description>
+         <min_height>0.1473</min_height>
+         <max_height>0.1473</max_height>
+         <real_height>0.1473</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125136</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021911 -0.029944 -0.062521</min>
+            <max>0.022041 0.030056 0.084784</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/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.usd b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/toothpaste_030.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4783690
diff --git a/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/video.mp4 b/dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/video.mp4
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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