diff --git a/.gitattributes b/.gitattributes
index 71e84b79ab1910ab8389344ea6def0ab811d523e..421bb8579622b9222bb650d4e9ab29cf558665f0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2557,7 +2557,5 @@ dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_04
 dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/mesh/comb_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/hair_clip_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/mesh/hair_clip_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8d57d0e7b5b050c184e84deaa405e54b/mesh/toothpaste_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8d57d0e7b5b050c184e84deaa405e54b/toothpaste_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/dental_floss_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/mesh/dental_floss_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/toothpaste_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1424705b84515b6d577eecf7f5a6b89066badcc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_033_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c4a093b591d3698fe12eaac794870f60a5e7a86
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/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/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.glb b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a9fffdcd9831e69a71beba1ad5d0307d48ecc5cc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12785936
diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.mtl b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..758d0da7d9b6b79c378421393f1dd00a531406b5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_033_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/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.obj b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794c4e06547ec850114ae3ee385970b73064573b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033.obj
@@ -0,0 +1,106398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_033_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033_collision.obj b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef83f03d3570710438e0278419451765a5283b12
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mesh/toothpaste_033_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision.obj b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a66a42fad18fb96aec2c381791b4ca67d5db111
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision.obj
@@ -0,0 +1,3070 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision_0.obj b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0dacd79ba65ed2768da0647d70a9fe2b26cc531
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision_1.obj b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b34828f37479702f4cb8b56c18603f598c62d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/mesh/toothpaste_033_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/toothpaste_033.xml b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/mjcf/toothpaste_033.xml
new file mode 100644
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_033">
+  <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_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_033">
+      <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/8d6e9d0bf0a75c1088b4a0d68d1944e7/toothpaste_033.urdf b/dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/toothpaste_033.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_033">
+   <link name="toothpaste_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_033.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_033_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>8d6e9d0bf0a75c1088b4a0d68d1944e7</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste tube</name>
+         <color>white,red</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>white toothpaste tube with red lower wrap and gray 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>20260611125216</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025283 -0.016227 -0.073860</min>
+            <max>0.025223 0.016398 0.086140</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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