diff --git a/.gitattributes b/.gitattributes
index 2b055045c44e811895982f3abcb0410e28a42f2b..bee32ae3f7b55705f1840142c4bc28dfde95cd0b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2559,3 +2559,5 @@ dataset/bathroom_supplies/personal_care/8ff578405af35fc183c3a41850888a8d/dental_
 dataset/bathroom_supplies/personal_care/8ff578405af35fc183c3a41850888a8d/mesh/dental_floss_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/dental_floss_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/mesh/dental_floss_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..971e2b38738a73daf86bbc3237ee7cd4f1422b22
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_037_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/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/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.glb b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.mtl b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..704ac3f4f9fc6ab975b1fb0e7c646b5ca97ef9f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.mtl
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+newmtl toothpaste_037_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/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f5e0519e5a553ae1451b842c528803c9b5f013
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037_collision.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae1d33aae03fea3c223bff2cf6918a0034464f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c2b99552c422d9a415abe70a0cc7b220433003
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mesh/toothpaste_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1ee2909aac32ae8420f85edfc00e8563af0c918e4eb08b1b780a036a375681
+size 9261614
diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c2b99552c422d9a415abe70a0cc7b220433003
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1ee2909aac32ae8420f85edfc00e8563af0c918e4eb08b1b780a036a375681
+size 9261614
diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac7f09ea22723e15dda87ebd6e8d8d4b33ecebe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_037_geometry_Looks_material_0
+v 0.028160 -0.001930 0.067959
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c42dede8b0508bcf9e2958941485d59a53397d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision.obj
@@ -0,0 +1,2885 @@
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_0.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ee7991c19978474a9ff34f9e74b8656ce97c01
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_1.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68382a6363c6a30f5b3a39f45db9261a2d38add6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_2.obj b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9148fede824654e5e38846d66326f3e4214de4f0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/mesh/toothpaste_037_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/toothpaste_037.xml b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/toothpaste_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4438bf53e84bbf35c23723b40fe986439b0e9531
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/mjcf/toothpaste_037.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toothpaste_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_037">
+      <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/91bfba95299d55bfb6d0ead92aa972bc/textures/material_0.png b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1ee2909aac32ae8420f85edfc00e8563af0c918e4eb08b1b780a036a375681
+size 9261614
diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.urdf b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.urdf
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+++ b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_037">
+   <link name="toothpaste_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>91bfba95299d55bfb6d0ead92aa972bc</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 label and round cap</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031165 -0.021713 -0.068695</min>
+            <max>0.031312 0.021812 0.091305</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.usd b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.usd
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diff --git a/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/video.mp4 b/dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/video.mp4
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