diff --git a/.gitattributes b/.gitattributes
index 38874ae58179526bbea3dbf8d04d8d36696fc362..7e68d2791d2395fa278bb1b999d72be2e88c976b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2615,7 +2615,5 @@ dataset/bathroom_supplies/personal_care/c5b38f52872456928831c85388015b1a/dental_
 dataset/bathroom_supplies/personal_care/c5b38f52872456928831c85388015b1a/mesh/dental_floss_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/mesh/toothpaste_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/toothpaste_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/mesh/razor_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/razor_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/toothpaste_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7bbede1cf2c0ac32be8790f2b29a3a3f806220e3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eed0a4b176d0d3c12c6860fe58ab0eac3a6047b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/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/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.glb b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a420c25799c9f68164f3920b660420837b139a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f73a466fc4d31c4ccaf15a28384166b65abb8e85c8cd2229c754f6c6a9ff42b
+size 12839956
diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.mtl b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..45649596156f579e78fcbbbcc79c3d535be3ab85
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_004_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/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.obj b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a0624deda5297f9ed1031bd981bc292710c687
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004.obj
@@ -0,0 +1,110756 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004_collision.obj b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a390a9cb781bc57bff9d5abe386455e42ad16e1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mesh/toothpaste_004_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 9649897
diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eed0a4b176d0d3c12c6860fe58ab0eac3a6047b2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:33a307c3590aad4c58cb28b12e4c1663e2649f046d1bc4d8f14f13ddea217af8
+size 9649897
diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004.obj b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004.obj
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index 0000000000000000000000000000000000000000..f0b0483f8c6be7b151ac90fbc50d35ba12f899f6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_004_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision.obj b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffafbc28a6501f5880324365f742a56e9539b137
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision.obj
@@ -0,0 +1,2164 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision_0.obj b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22326f4231077a45e93f8c23f070bba9799f60b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision_1.obj b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f8a9764853074622b89824729ee08f96b20e8d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/mesh/toothpaste_004_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/toothpaste_004.xml b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/toothpaste_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0d9314aab0487e15146fcdc2dfa58696f94186bf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/mjcf/toothpaste_004.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_004">
+      <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/d1799d8458f75a258abe409539fb767d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9649897
diff --git a/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.urdf b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.urdf
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+++ b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_004">
+   <link name="toothpaste_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>d1799d8458f75a258abe409539fb767d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste</name>
+         <color>unknown</color>
+         <shape>unknown</shape>
+         <material>unknown</material>
+         <description>toothpaste</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>1</min_mass>
+         <max_mass>1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414145129</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/d1799d8458f75a258abe409539fb767d/toothpaste_004.usd b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.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/d1799d8458f75a258abe409539fb767d/video.mp4 b/dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/video.mp4
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