diff --git a/.gitattributes b/.gitattributes
index f40985f7137046051f2201d6e9244c9c4ac8caa7..58b6b0946fe19b877a973e2704ffc6abcd6fb455 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2493,7 +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
-dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/mesh/nail_clipper_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0205c0e264839a63c9627e40ccf53d2d309a265
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_013_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/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/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.glb b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0d85b5e2ef1dac60534f1b4275616947aa4121c4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.mtl b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f75a68144df2c5886dfd3bb5d7c183df9982e014
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_013_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.obj b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9203eacf79bb1541fb29439d6128b3788f10d27e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013.obj
@@ -0,0 +1,103936 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_013_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013_collision.obj b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e327317c7d83a79749e632415d586e0d7739f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mesh/toothpaste_013_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013.obj b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision.obj b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e72bd8a3fa2ad67ee9437513ee1353806082b9a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision.obj
@@ -0,0 +1,3334 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision_0.obj b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677e984d510935228f3659a6e6c717ff091323ef
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision_1.obj b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05f5c25ea52c7c8036d5b5e7300a11486d3a795d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/mesh/toothpaste_013_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/toothpaste_013.xml b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/toothpaste_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8eda49d465f7e012565bcd826b780c481b686e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/mjcf/toothpaste_013.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_013">
+      <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/3de49dc8c2a85b9c9b954348618da0e4/textures/material_0.png b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:8ecd2fe4133d47e9d26cc7e0b8208652b4f78c5796a4522f829fb4f6442d3237
+size 8337587
diff --git a/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.urdf b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73344289bea4b081c52287a186ff5ead3c351762
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+++ b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_013">
+   <link name="toothpaste_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.42</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>3de49dc8c2a85b9c9b954348618da0e4</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>herbal toothpaste</name>
+         <color>green,brown</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>pale green toothpaste tube with wooden cap and leaf print</description>
+         <min_height>0.1892</min_height>
+         <max_height>0.1892</max_height>
+         <real_height>0.1892</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164114</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022018 -0.035046 -0.076345</min>
+            <max>0.021955 0.034954 0.112855</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.usd b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/toothpaste_013.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/3de49dc8c2a85b9c9b954348618da0e4/video.mp4 b/dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/video.mp4
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