diff --git a/.gitattributes b/.gitattributes
index e5b0f39bfab87a560343a0b05980985db97d3824..38874ae58179526bbea3dbf8d04d8d36696fc362 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2617,7 +2617,5 @@ dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/mesh/to
 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/cfcfb90c41d959fba0e01190fead875c/mesh/razor_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d222f2cf291e513e9e3bdbdeba17dca8/mesh/nail_clipper_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d222f2cf291e513e9e3bdbdeba17dca8/nail_clipper_018.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
diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37d815db8e391aa4cdd1d12484cb3d11c6718faf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3fdd9f17d86a88c432ddae90f723019f922140e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd937406d32c8af6e2df58f52a521f5ada5ec01ade2c5722a1a4ca33adf538c
+size 9828575
diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.glb b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..be1eb2c3643913777fadb88a93a5ad6c6c5d9a53
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49bc4d9cf9ba6328179ace61fb22e818896693c88086486d59ef70d2a7c2190
+size 12882532
diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.mtl b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94525b1d80c6b42f5dfcace62f33e0f7546ed801
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.mtl
@@ -0,0 +1,6 @@
+newmtl toothpaste_026_geometry_Looks_material_0
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+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/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.obj b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021071a1c5c750f177679becd1c1d01b00ce2203
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026.obj
@@ -0,0 +1,106098 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl toothpaste_026_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026_collision.obj b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc0bd5ae1f83090b4772594bf79fecc4d430e07
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mesh/toothpaste_026_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026.obj b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision.obj b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d684de150dc314238e547caa8e5a0fda5b1823
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision.obj
@@ -0,0 +1,3187 @@
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision_0.obj b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a494f56116283fe62b320b94dc6dfd4cddfd19
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision_1.obj b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864588d503418d592ef8dbd354839ac29e85e608
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/mesh/toothpaste_026_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/toothpaste_026.xml b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/toothpaste_026.xml
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/mjcf/toothpaste_026.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_026">
+      <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/d0ce3c10aa885425baf88cd0b5c4d532/textures/material_0.png b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9828575
diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/toothpaste_026.urdf b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/toothpaste_026.urdf
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+++ b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/toothpaste_026.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_026">
+   <link name="toothpaste_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_026.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_026_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>d0ce3c10aa885425baf88cd0b5c4d532</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>red toothpaste tube</name>
+         <color>red,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>red and white tapered toothpaste tube with flip-top cap</description>
+         <min_height>0.1886</min_height>
+         <max_height>0.1886</max_height>
+         <real_height>0.1886</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125028</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022488 -0.030002 -0.079571</min>
+            <max>0.022859 0.029998 0.109064</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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diff --git a/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/toothpaste_026.usd b/dataset/bathroom_supplies/personal_care/d0ce3c10aa885425baf88cd0b5c4d532/toothpaste_026.usd
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+size 4734022
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