diff --git a/.gitattributes b/.gitattributes
index 30ede529c01f7197120a6caa2284d27c87f12f3f..445f039200380037624dc248a561139e42efea98 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2625,3 +2625,5 @@ dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/mesh/na
 dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/mesh/razor_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/razor_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4689242e2de742cadd1219f74cab347c81819102
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c05d0ab2dc090ded87db2facc2a614514723dd29
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/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/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.glb b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..370f8b52037399add79306018a90653fb0b6fa52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614784c29844be6c55749d3826f5e258008dc3db39f6369222c65e0ce8674bab
+size 10244072
diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.mtl b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccbe0d6b8d1ae359159fdc4e5013acf3be07853a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_035_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/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.obj b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8a3f4823fa9bddce4fbf7a70e9520a6c19ea71
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035.obj
@@ -0,0 +1,105612 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035_collision.obj b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbe9f3119e464c0a66879c220cbad0c4ef70747
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mesh/toothpaste_035_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035.obj b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c259b324d5459582deb8cff714fa57a4c3da9d3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035.obj
@@ -0,0 +1,105612 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_035_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision.obj b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3902d81af333173dc7aa355e05844400dd50ef7c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision.obj
@@ -0,0 +1,4267 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision_0.obj b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f7c0aaaa0d8a91f859953c4db63489d7c827ee4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision_1.obj b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db8ceca2ea8e7b5ab44ae5d4bfac3e5175f8edd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/mesh/toothpaste_035_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/toothpaste_035.xml b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/toothpaste_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9a36c8ab85b6f4b8ece12be60824acbf1c646691
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/mjcf/toothpaste_035.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_035">
+      <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>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/textures/material_0.png b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/textures/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6dbe35bed4dfef2d59dc07fe256134d4a261eddb7d1f9a47039588620cb3408c
+size 7905003
diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.urdf b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.urdf
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+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_035">
+   <link name="toothpaste_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1600" />
+         <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>e4938754d4da531088d59f01fc117594</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>blue toothpaste tube</name>
+         <color>blue,gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue and gray squeezable toothpaste tube with 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>0.22</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125242</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025979 -0.019872 -0.066365</min>
+            <max>0.025938 0.019653 0.093635</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/e4938754d4da531088d59f01fc117594/toothpaste_035.usd b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4285411
diff --git a/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/video.mp4 b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/video.mp4
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00e7f54965763b0c69e05ae09d7173d921c1dafaa9865a3fbd731fce6c64677
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