diff --git a/.gitattributes b/.gitattributes
index c3f49686d54b7ff9d4555394af0147d0ba465bc0..def938a2efb9a1e0ed6a79c986c4a3de9542f37d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2561,11 +2561,5 @@ dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mesh/mo
 dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/mouthwash_cup_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/mesh/toothpaste_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/toothpaste_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/98618574d6c957689f882819250f2017/hair_clip_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/98618574d6c957689f882819250f2017/mesh/hair_clip_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mesh/mouthwash_cup_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mjcf/mesh/mouthwash_cup_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/mouthwash_cup_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/hair_clip_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/mesh/hair_clip_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3cc4fd2039ae52dba324d5d25b2f003ea8c0e085
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ca7708894d898563a69d553ee17af05417125f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11197618
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.glb b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0450cb5509ce620461a9b8fc97a74539c4588146
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14667676
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.mtl b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f77aef2cfc09da7c874b724807790fdc9a12ab2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_015_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/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1cfcc53cf4827276eb0317b2b44ee622309fe4e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015.obj
@@ -0,0 +1,121312 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_015_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015_collision.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4457d1976bff3865a0c294f7fd8f03312684fc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ca7708894d898563a69d553ee17af05417125f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mesh/toothpaste_015_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ca7708894d898563a69d553ee17af05417125f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae70d46661f87419a1afda937ab9219f70e4f88
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6f911ac008675f329bc4cf21dc7c3b843bdda6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision.obj
@@ -0,0 +1,6483 @@
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_0.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb326b1d9e9e3aa2a3a7551c980dd9f6951d238
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_1.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f845550e52eef7e789901f8f26963ae60ff6440d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_2.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb465e14585bd7f604df59efd735064fc749f86
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+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_3.obj b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc58a697328241d3d4dbd065785f740830cff1d6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/mesh/toothpaste_015_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/toothpaste_015.xml b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/toothpaste_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..25a2f9683e7405d29f3da8a837ef288e8d4f652f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/mjcf/toothpaste_015.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toothpaste_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/textures/material_0.png b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ca7708894d898563a69d553ee17af05417125f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:66a98f1088863a973fddc837f5ec41ff606ac3d0911021b61aa614c57cbb2f4f
+size 11197618
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.urdf b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d262e4b3c0f8c52cbc2f59ec410e75300a96df87
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_015">
+   <link name="toothpaste_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_015.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_015_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>96988fac795a5718986a162b82308e90</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>pink toothpaste tube</name>
+         <color>pink,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>pink squeezable toothpaste tube with cartoon fruit graphics and screw cap</description>
+         <min_height>0.1410</min_height>
+         <max_height>0.1410</max_height>
+         <real_height>0.1410</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164143</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018114 -0.040870 -0.065265</min>
+            <max>0.021828 0.039130 0.075689</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.usd b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5b0af0028cfe5f052d930327d6e8cdd3ac91d948
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de32f59ca753467f633b44453b724e9fcf6ceb219dbbc3cd354da7bf08e22ff9
+size 4995575
diff --git a/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/video.mp4 b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76c9fecb8851e060a2b07cddf557a17d2546cfb0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9d4916f037d21f3f869f150e0003fb4d2fa12d66f03b2979edd70a7d9fb4a7
+size 266582