diff --git a/.gitattributes b/.gitattributes
index 74534378eb721a89a0cc920a6fb41ad9ac8f0cd9..6b0ff56684a85a734d47e46248b6c824662d1d8a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2493,3 +2493,5 @@ dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/hair_cl
 dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/mesh/hair_clip_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/mesh/nail_clipper_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/nail_clipper_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b39c49f7fec236d5592fb09b5b2f8ae154c89410
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87c3fa7581cc04eb43c7d2043ec9c75a6e1efb12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/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/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.glb b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d377158b161db8376abccea24676189ce7bc4249
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9480196
diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.mtl b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efa546340f94a8fe51d8de95f1a73077e9dde9a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_016_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/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.obj b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95984aa92b7ce55b93206d2300da95b477d72e9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016.obj
@@ -0,0 +1,104252 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_016_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016_collision.obj b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd730b9e032f5fa9daf4feae6090f501e249e6f7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016_collision.obj
@@ -0,0 +1,3799 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mesh/toothpaste_016_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016.obj b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision.obj b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2987d8763af72504221fd2484b0939a09f58c016
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision.obj
@@ -0,0 +1,3799 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision_0.obj b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d0557ade963a8f62f3093f37b9370cdad233fd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision_1.obj b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37355b1259dce9d60ea528ccacca2afa1f24cd2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/mesh/toothpaste_016_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/toothpaste_016.xml b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/toothpaste_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..457a281dceed32f33ed4188135b8a29d9bfeaa89
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/mjcf/toothpaste_016.xml
@@ -0,0 +1,18 @@
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+</mujoco>
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diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/textures/material_0.png b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/textures/material_0.png
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index 0000000000000000000000000000000000000000..87c3fa7581cc04eb43c7d2043ec9c75a6e1efb12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ec71de0fccac6f8d4b9f8fcf2d25d26944cce8455df73e2ae31dc81ae118701
+size 6361453
diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.urdf b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62af5239c2f753f8f4ba2fb431cdce37f4784262
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_016">
+   <link name="toothpaste_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_016.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_016_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>3d9cb678d4295794b71c5a8137633b84</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>blue toothpaste tube</name>
+         <color>blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue squeezable toothpaste tube with screw cap and tapered body</description>
+         <min_height>0.1832</min_height>
+         <max_height>0.1832</max_height>
+         <real_height>0.1832</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164204</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023454 -0.037273 -0.080697</min>
+            <max>0.019563 0.032727 0.102457</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.usd b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.usd
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+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/toothpaste_016.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f3f77875d84a98d384fd422a0658d5550c1685d9997e582b6192ef1e06e0bb
+size 4770217
diff --git a/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/video.mp4 b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e79cc1dca5c567e963ca3ece0efba294cd852a2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7c817b381486b5f215b38180512940cb64e1a1546cd4daf7677b583bfc7112
+size 172997